Struct rapier2d::geometry::Compound [−][src]
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
impl Compound
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pub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape), Global>
) -> Compound
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shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape), Global>
) -> 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).
impl Compound
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pub fn shapes(
&self
) -> &[(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape)]
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&self
) -> &[(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape)]
The shapes of this compound shape.
pub fn local_aabb(&self) -> &AABB
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The AABB of this compound in its local-space.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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The bounding-sphere of this compound in its local-space.
pub fn aabbs(&self) -> &[AABB]
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The shapes AABBs.
pub fn quadtree(&self) -> &SimdQuadTree<u32>
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The acceleration structure used by this compound shape.
Trait Implementations
impl Clone for Compound
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impl PointQuery for Compound
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pub fn project_local_point(
&self,
point: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
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&self,
point: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
pub fn project_local_point_and_get_feature(
&self,
point: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
point: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn contains_local_point(&self, point: &Point<f32, 2_usize>) -> bool
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pub fn distance_to_local_point(
&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
pub fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
impl RayCast for Compound
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pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
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pub fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
impl Shape for Compound
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pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
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pub fn compute_local_aabb(&self) -> AABB
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pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
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pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
pub fn mass_properties(&self, density: f32) -> MassProperties
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pub fn shape_type(&self) -> ShapeType
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pub fn as_typed_shape(&self) -> TypedShape<'_>
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pub fn ccd_thickness(&self) -> f32
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pub fn ccd_angular_thickness(&self) -> f32
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pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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pub fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
pub fn is_convex(&self) -> bool
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pub fn as_support_map(&self) -> Option<&dyn SupportMap>
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pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
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&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
pub fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
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&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
impl SimdCompositeShape for Compound
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pub fn map_part_at(
&self,
shape_id: u32,
f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &(dyn Shape + 'static))
)
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&self,
shape_id: u32,
f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &(dyn Shape + 'static))
)
pub fn quadtree(&self) -> &SimdQuadTree<u32>
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impl TypedSimdCompositeShape for Compound
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type PartShape = dyn Shape + 'static
type PartId = u32
pub fn map_typed_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
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&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
pub fn map_untyped_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
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&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
pub fn typed_quadtree(&self) -> &SimdQuadTree<u32>
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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
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> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
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>,