pub struct Compound { /* private fields */ }
Expand description
A compound shape with an aabb bounding volume.
A compound shape is a shape composed of the union of several simpler shape. This is the main way of creating a concave shape from convex parts. Each parts can have its own delta transformation to shift or rotate it with regard to the other shapes.
Implementations§
source§impl Compound
impl Compound
sourcepub fn new(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Compound
pub fn new(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Compound
Builds a new compound shape.
Panics if the input vector is empty, of if some of the provided shapes are also composite shapes (nested composite shapes are not allowed).
sourcepub fn decompose_trimesh(trimesh: &TriMesh) -> Option<Self>
pub fn decompose_trimesh(trimesh: &TriMesh) -> Option<Self>
Create a compound shape from the TriMesh
. This involves merging adjacent triangles into convex
polygons using the Hertel-Mehlhorn algorithm.
Can fail and return None
if any of the created shapes has close to zero or zero surface area.
source§impl Compound
impl Compound
sourcepub fn shapes(&self) -> &[(Isometry<Real>, SharedShape)]
pub fn shapes(&self) -> &[(Isometry<Real>, SharedShape)]
The shapes of this compound shape.
sourcepub fn local_aabb(&self) -> &Aabb
pub fn local_aabb(&self) -> &Aabb
The Aabb
of this compound in its local-space.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
The bounding-sphere of this compound in its local-space.
Trait Implementations§
source§impl PointQuery for Compound
impl PointQuery for Compound
source§fn project_local_point(
&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
fn project_local_point( &self, point: &Point<Real>, solid: bool ) -> PointProjection
self
. Read moresource§fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)
self
and returns the id of the
feature the point was projected on.source§fn contains_local_point(&self, point: &Point<Real>) -> bool
fn contains_local_point(&self, point: &Point<Real>) -> bool
self
.source§fn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>
self
, unless the projection lies further than the given max distance. Read moresource§fn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>
self
transformed by m
, unless the projection lies further than the given max distance.source§fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
self
.source§fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection
self
transformed by m
.source§fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real
self
transformed by m
.source§fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (PointProjection, FeatureId)
self
transformed by m
and returns the id of the
feature the point was projected on.source§impl RayCast for Compound
impl RayCast for Compound
source§fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
source§fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>
source§fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
source§fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<Real>
source§fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>
source§impl Shape for Compound
impl Shape for Compound
source§fn compute_local_aabb(&self) -> Aabb
fn compute_local_aabb(&self) -> Aabb
Aabb
of this shape.source§fn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
source§fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb
fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb
Aabb
of this shape with the given position.source§fn mass_properties(&self, density: Real) -> MassProperties
fn mass_properties(&self, density: Real) -> MassProperties
source§fn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
source§fn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
fn ccd_thickness(&self) -> Real
fn ccd_angular_thickness(&self) -> Real
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
source§fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
source§fn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
source§fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
source§impl SimdCompositeShape for Compound
impl SimdCompositeShape for Compound
source§impl TypedSimdCompositeShape for Compound
impl TypedSimdCompositeShape for Compound
type PartShape = dyn Shape
type PartId = u32
type QbvhStorage = DefaultStorage
fn map_typed_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape) )
fn map_untyped_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape) )
fn typed_qbvh(&self) -> &Qbvh<u32>
Auto Trait Implementations§
impl !RefUnwindSafe for Compound
impl Send for Compound
impl Sync for Compound
impl Unpin for Compound
impl !UnwindSafe for Compound
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
source§fn into_any(self: Box<T>) -> Box<dyn Any>
fn into_any(self: Box<T>) -> Box<dyn Any>
Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
.source§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.source§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.source§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
&mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s.source§impl<T> DowncastSync for T
impl<T> DowncastSync for T
source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read moresource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
self
is actually part of its subset T
(and can be converted to it).source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
self.to_subset
but without any property checks. Always succeeds.source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.