Struct parry3d::shape::SharedShape[][src]

pub struct SharedShape(pub Arc<dyn Shape>);

The shape of a collider.

Implementations

impl SharedShape[src]

pub fn new(shape: impl Shape) -> Self[src]

Wraps the given shape as a shared shape.

pub fn make_mut(&mut self) -> &mut dyn Shape[src]

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[src]

Initialize a compound shape defined by its subshapes.

pub fn ball(radius: Real) -> Self[src]

Initialize a ball shape defined by its radius.

pub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self[src]

Initialize a plane shape defined by its outward normal.

pub fn cylinder(half_height: Real, radius: Real) -> Self[src]

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
[src]

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[src]

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[src]

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[src]

Initialize a cuboid shape defined by its half-extents.

pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self[src]

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[src]

Initialize a capsule shape from its endpoints and radius.

pub fn segment(a: Point<Real>, b: Point<Real>) -> Self[src]

Initialize a segment shape from its endpoints.

pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self[src]

Initializes a triangle shape.

pub fn round_triangle(
    a: Point<Real>,
    b: Point<Real>,
    c: Point<Real>,
    border_radius: Real
) -> Self
[src]

Initializes a triangle shape with round corners.

pub fn polyline(
    vertices: Vec<Point<Real>>,
    indices: Option<Vec<[u32; 2]>>
) -> Self
[src]

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[src]

Initializes a triangle mesh shape defined by its vertex and index buffers.

pub fn convex_decomposition(
    vertices: &[Point<Real>],
    indices: &[[u32; 3]]
) -> Self
[src]

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
[src]

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
[src]

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
[src]

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>[src]

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>
[src]

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>
[src]

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>
[src]

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[src]

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[src]

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>>[src]

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>[src]

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
[src]

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>[src]

Converts this abstract shape to the given shape, if it is one.

pub fn as_ball(&self) -> Option<&Ball>[src]

Converts this abstract shape to a ball, if it is one.

pub fn as_cuboid(&self) -> Option<&Cuboid>[src]

Converts this abstract shape to a cuboid, if it is one.

pub fn as_halfspace(&self) -> Option<&HalfSpace>[src]

Converts this abstract shape to a halfspace, if it is one.

pub fn as_segment(&self) -> Option<&Segment>[src]

Converts this abstract shape to a segment, if it is one.

pub fn as_capsule(&self) -> Option<&Capsule>[src]

Converts this abstract shape to a capsule, if it is one.

pub fn as_triangle(&self) -> Option<&Triangle>[src]

Converts this abstract shape to a triangle, if it is one.

pub fn as_compound(&self) -> Option<&Compound>[src]

Converts this abstract shape to a compound shape, if it is one.

pub fn as_trimesh(&self) -> Option<&TriMesh>[src]

Converts this abstract shape to a triangle mesh, if it is one.

pub fn as_polyline(&self) -> Option<&Polyline>[src]

Converts this abstract shape to a polyline, if it is one.

pub fn as_heightfield(&self) -> Option<&HeightField>[src]

Converts this abstract shape to a heightfield, if it is one.

pub fn as_round_cuboid(&self) -> Option<&RoundCuboid>[src]

Converts this abstract shape to a round cuboid, if it is one.

pub fn as_round_triangle(&self) -> Option<&RoundTriangle>[src]

Converts this abstract shape to a round triangle, if it is one.

pub fn as_convex_polyhedron(&self) -> Option<&ConvexPolyhedron>[src]

pub fn as_cylinder(&self) -> Option<&Cylinder>[src]

Converts this abstract shape to a cylinder, if it is one.

pub fn as_cone(&self) -> Option<&Cone>[src]

Converts this abstract shape to a cone, if it is one.

pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>[src]

Converts this abstract shape to a round cylinder, if it is one.

pub fn as_round_cone(&self) -> Option<&RoundCone>[src]

Converts this abstract shape to a round cone, if it is one.

pub fn as_round_convex_polyhedron(&self) -> Option<&RoundConvexPolyhedron>[src]

Converts this abstract shape to a round convex polyhedron, if it is one.

Trait Implementations

impl Clone for SharedShape[src]

impl Deref for SharedShape[src]

type Target = dyn Shape

The resulting type after dereferencing.

Auto Trait Implementations

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Downcast for T where
    T: Any
[src]

impl<T> DowncastSync for T where
    T: Any + Send + Sync
[src]

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 
[src]

impl<T> ToOwned for T where
    T: Clone
[src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.