Struct parry3d_f64::shape::SharedShape [−][src]
The shape of a collider.
Implementations
impl SharedShape
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pub fn new(shape: impl Shape) -> Self
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Wraps the given shape as a shared shape.
pub fn make_mut(&mut self) -> &mut dyn Shape
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If this shape is shared, then the content of self
is cloned into a unique instance,
and a mutable reference to that instance is returned.
pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self
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Initialize a compound shape defined by its subshapes.
pub fn ball(radius: Real) -> Self
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Initialize a ball shape defined by its radius.
pub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self
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Initialize a plane shape defined by its outward normal.
pub fn cylinder(half_height: Real, radius: Real) -> Self
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Initialize a cylindrical shape defined by its half-height (along along the y axis) and its radius.
pub fn round_cylinder(
half_height: Real,
radius: Real,
border_radius: Real
) -> Self
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half_height: Real,
radius: Real,
border_radius: Real
) -> Self
Initialize a rounded cylindrical shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).
pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self
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Initialize a rounded cone shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).
pub fn cone(half_height: Real, radius: Real) -> Self
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Initialize a cone shape defined by its half-height (along along the y axis) and its basis radius.
pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self
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Initialize a cuboid shape defined by its half-extents.
pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self
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Initialize a round cuboid shape defined by its half-extents and border radius.
pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self
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Initialize a capsule shape from its endpoints and radius.
pub fn segment(a: Point<Real>, b: Point<Real>) -> Self
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Initialize a segment shape from its endpoints.
pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self
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Initializes a triangle shape.
pub fn round_triangle(
a: Point<Real>,
b: Point<Real>,
c: Point<Real>,
border_radius: Real
) -> Self
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a: Point<Real>,
b: Point<Real>,
c: Point<Real>,
border_radius: Real
) -> Self
Initializes a triangle shape with round corners.
pub fn polyline(
vertices: Vec<Point<Real>>,
indices: Option<Vec<[u32; 2]>>
) -> Self
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vertices: Vec<Point<Real>>,
indices: Option<Vec<[u32; 2]>>
) -> Self
Initializes a polyline shape defined by its vertex and index buffers.
If no index buffer is provided, the polyline is assumed to describe a line strip.
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self
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Initializes a triangle mesh shape defined by its vertex and index buffers.
pub fn convex_decomposition(
vertices: &[Point<Real>],
indices: &[[u32; 3]]
) -> Self
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vertices: &[Point<Real>],
indices: &[[u32; 3]]
) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
pub fn round_convex_decomposition(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
border_radius: Real
) -> Self
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vertices: &[Point<Real>],
indices: &[[u32; 3]],
border_radius: Real
) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.
pub fn convex_decomposition_with_params(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> Self
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vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
pub fn round_convex_decomposition_with_params(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: Real
) -> Self
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vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: Real
) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.
pub fn convex_hull(points: &[Point<Real>]) -> Option<Self>
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Creates a new shared shape that is the convex-hull of the given points.
pub fn convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<Self>
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points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<Self>
Creates a new shared shape that is a convex polyhedron formed by the given set of points assumed to form a convex mesh (no convex-hull will be automatically computed).
pub fn round_convex_hull(
points: &[Point<Real>],
border_radius: Real
) -> Option<Self>
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points: &[Point<Real>],
border_radius: Real
) -> Option<Self>
Creates a new shared shape with rounded corners that is the
convex-hull of the given points, dilated by border_radius
.
pub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]],
border_radius: Real
) -> Option<Self>
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points: Vec<Point<Real>>,
indices: &[[u32; 3]],
border_radius: Real
) -> Option<Self>
Creates a new shared shape with round corners that is a convex polyhedron formed by the given set of points assumed to form a convex mesh (no convex-hull will be automatically computed).
pub fn heightfield(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
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Initializes an heightfield shape on the x-z plane defined by its set of height and a scale factor along each coordinate axis.
Methods from Deref<Target = dyn Shape>
pub fn is<__T: Shape>(&self) -> bool
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Returns true if the trait object wraps an object of type __T
.
pub fn downcast_rc<__T: Shape>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>
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Returns an Rc
-ed object from an Rc
-ed trait object if the underlying object is of
type __T
. Returns the original Rc
-ed trait if it isn’t.
pub fn downcast_ref<__T: Shape>(&self) -> Option<&__T>
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Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn’t.
pub fn downcast_arc<__T: Shape>(self: Arc<Self>) -> Result<Arc<__T>, Arc<Self>> where
__T: Any + Send + Sync,
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__T: Any + Send + Sync,
Returns an Arc
-ed object from an Arc
-ed trait object if the underlying object is of
type __T
. Returns the original Arc
-ed trait if it isn’t.
pub fn as_shape<T: Shape>(&self) -> Option<&T>
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Converts this abstract shape to the given shape, if it is one.
pub fn as_ball(&self) -> Option<&Ball>
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Converts this abstract shape to a ball, if it is one.
pub fn as_cuboid(&self) -> Option<&Cuboid>
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Converts this abstract shape to a cuboid, if it is one.
pub fn as_halfspace(&self) -> Option<&HalfSpace>
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Converts this abstract shape to a halfspace, if it is one.
pub fn as_segment(&self) -> Option<&Segment>
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Converts this abstract shape to a segment, if it is one.
pub fn as_capsule(&self) -> Option<&Capsule>
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Converts this abstract shape to a capsule, if it is one.
pub fn as_triangle(&self) -> Option<&Triangle>
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Converts this abstract shape to a triangle, if it is one.
pub fn as_compound(&self) -> Option<&Compound>
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Converts this abstract shape to a compound shape, if it is one.
pub fn as_trimesh(&self) -> Option<&TriMesh>
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Converts this abstract shape to a triangle mesh, if it is one.
pub fn as_polyline(&self) -> Option<&Polyline>
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Converts this abstract shape to a polyline, if it is one.
pub fn as_heightfield(&self) -> Option<&HeightField>
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Converts this abstract shape to a heightfield, if it is one.
pub fn as_round_cuboid(&self) -> Option<&RoundCuboid>
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Converts this abstract shape to a round cuboid, if it is one.
pub fn as_round_triangle(&self) -> Option<&RoundTriangle>
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Converts this abstract shape to a round triangle, if it is one.
pub fn as_convex_polyhedron(&self) -> Option<&ConvexPolyhedron>
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pub fn as_cylinder(&self) -> Option<&Cylinder>
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Converts this abstract shape to a cylinder, if it is one.
pub fn as_cone(&self) -> Option<&Cone>
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Converts this abstract shape to a cone, if it is one.
pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>
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Converts this abstract shape to a round cylinder, if it is one.
pub fn as_round_cone(&self) -> Option<&RoundCone>
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Converts this abstract shape to a round cone, if it is one.
pub fn as_round_convex_polyhedron(&self) -> Option<&RoundConvexPolyhedron>
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Converts this abstract shape to a round convex polyhedron, if it is one.
Trait Implementations
impl Clone for SharedShape
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fn clone(&self) -> SharedShape
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Deref for SharedShape
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Auto Trait Implementations
impl !RefUnwindSafe for SharedShape
impl Send for SharedShape
impl Sync for SharedShape
impl Unpin for SharedShape
impl !UnwindSafe for SharedShape
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,