Struct rapier3d::geometry::SharedShape
source · [−]Expand description
The shape of a collider.
Tuple Fields
0: Arc<dyn Shape + 'static>
Implementations
sourceimpl SharedShape
impl SharedShape
sourcepub fn new(shape: impl Shape) -> SharedShape
pub fn new(shape: impl Shape) -> SharedShape
Wraps the given shape as a shared shape.
sourcepub fn make_mut(&mut self) -> &mut (dyn Shape + 'static)
pub fn make_mut(&mut self) -> &mut (dyn Shape + 'static)
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.
sourcepub fn compound(
shapes: Vec<(Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> SharedShape
pub fn compound(
shapes: Vec<(Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> SharedShape
Initialize a compound shape defined by its subshapes.
sourcepub fn ball(radius: f32) -> SharedShape
pub fn ball(radius: f32) -> SharedShape
Initialize a ball shape defined by its radius.
sourcepub fn halfspace(
outward_normal: Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> SharedShape
pub fn halfspace(
outward_normal: Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> SharedShape
Initialize a plane shape defined by its outward normal.
sourcepub fn cylinder(half_height: f32, radius: f32) -> SharedShape
pub fn cylinder(half_height: f32, radius: f32) -> SharedShape
Initialize a cylindrical shape defined by its half-height (along along the y axis) and its radius.
sourcepub fn round_cylinder(
half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
pub fn round_cylinder(
half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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).
sourcepub fn round_cone(
half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
pub fn round_cone(
half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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).
sourcepub fn cone(half_height: f32, radius: f32) -> SharedShape
pub fn cone(half_height: f32, radius: f32) -> SharedShape
Initialize a cone shape defined by its half-height (along along the y axis) and its basis radius.
sourcepub fn cuboid(hx: f32, hy: f32, hz: f32) -> SharedShape
pub fn cuboid(hx: f32, hy: f32, hz: f32) -> SharedShape
Initialize a cuboid shape defined by its half-extents.
sourcepub fn round_cuboid(
hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> SharedShape
pub fn round_cuboid(
hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> SharedShape
Initialize a round cuboid shape defined by its half-extents and border radius.
sourcepub fn capsule(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
radius: f32
) -> SharedShape
pub fn capsule(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
radius: f32
) -> SharedShape
Initialize a capsule shape from its endpoints and radius.
sourcepub fn capsule_x(half_height: f32, radius: f32) -> SharedShape
pub fn capsule_x(half_height: f32, radius: f32) -> SharedShape
Initialize a capsule shape aligned with the x
axis.
sourcepub fn capsule_y(half_height: f32, radius: f32) -> SharedShape
pub fn capsule_y(half_height: f32, radius: f32) -> SharedShape
Initialize a capsule shape aligned with the y
axis.
sourcepub fn capsule_z(half_height: f32, radius: f32) -> SharedShape
pub fn capsule_z(half_height: f32, radius: f32) -> SharedShape
Initialize a capsule shape aligned with the z
axis.
sourcepub fn segment(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> SharedShape
pub fn segment(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> SharedShape
Initialize a segment shape from its endpoints.
sourcepub fn triangle(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
c: OPoint<f32, Const<3_usize>>
) -> SharedShape
pub fn triangle(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
c: OPoint<f32, Const<3_usize>>
) -> SharedShape
Initializes a triangle shape.
sourcepub fn round_triangle(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
c: OPoint<f32, Const<3_usize>>,
border_radius: f32
) -> SharedShape
pub fn round_triangle(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
c: OPoint<f32, Const<3_usize>>,
border_radius: f32
) -> SharedShape
Initializes a triangle shape with round corners.
sourcepub fn polyline(
vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> SharedShape
pub fn polyline(
vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> SharedShape
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.
sourcepub fn trimesh(
vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: Vec<[u32; 3], Global>
) -> SharedShape
pub fn trimesh(
vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: Vec<[u32; 3], Global>
) -> SharedShape
Initializes a triangle mesh shape defined by its vertex and index buffers.
sourcepub fn convex_decomposition(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]]
) -> SharedShape
pub fn convex_decomposition(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]]
) -> SharedShape
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
sourcepub fn round_convex_decomposition(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
border_radius: f32
) -> SharedShape
pub fn round_convex_decomposition(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
border_radius: f32
) -> SharedShape
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.
sourcepub fn convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> SharedShape
pub fn convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> SharedShape
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
sourcepub fn round_convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> SharedShape
pub fn round_convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> SharedShape
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.
sourcepub fn convex_hull(
points: &[OPoint<f32, Const<3_usize>>]
) -> Option<SharedShape>
pub fn convex_hull(
points: &[OPoint<f32, Const<3_usize>>]
) -> Option<SharedShape>
Creates a new shared shape that is the convex-hull of the given points.
sourcepub fn convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]]
) -> Option<SharedShape>
pub fn convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]]
) -> Option<SharedShape>
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).
sourcepub fn round_convex_hull(
points: &[OPoint<f32, Const<3_usize>>],
border_radius: f32
) -> Option<SharedShape>
pub fn round_convex_hull(
points: &[OPoint<f32, Const<3_usize>>],
border_radius: f32
) -> Option<SharedShape>
Creates a new shared shape with rounded corners that is the
convex-hull of the given points, dilated by border_radius
.
sourcepub fn round_convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<SharedShape>
pub fn round_convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<SharedShape>
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).
sourcepub fn heightfield(
heights: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
scale: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> SharedShape
pub fn heightfield(
heights: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
scale: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> SharedShape
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 + 'static>
sourcepub fn is<__T>(&self) -> bool where
__T: Shape,
pub fn is<__T>(&self) -> bool where
__T: Shape,
Returns true if the trait object wraps an object of type __T
.
sourcepub fn downcast_rc<__T>(
self: Rc<dyn Shape + 'static>
) -> Result<Rc<__T>, Rc<dyn Shape + 'static>> where
__T: Shape,
pub fn downcast_rc<__T>(
self: Rc<dyn Shape + 'static>
) -> Result<Rc<__T>, Rc<dyn Shape + 'static>> where
__T: Shape,
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.
sourcepub fn downcast_ref<__T>(&self) -> Option<&__T> where
__T: Shape,
pub fn downcast_ref<__T>(&self) -> Option<&__T> where
__T: Shape,
Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn’t.
sourcepub fn as_shape<T>(&self) -> Option<&T> where
T: Shape,
pub fn as_shape<T>(&self) -> Option<&T> where
T: Shape,
Converts this abstract shape to the given shape, if it is one.
sourcepub fn as_cuboid(&self) -> Option<&Cuboid>
pub fn as_cuboid(&self) -> Option<&Cuboid>
Converts this abstract shape to a cuboid, if it is one.
sourcepub fn as_halfspace(&self) -> Option<&HalfSpace>
pub fn as_halfspace(&self) -> Option<&HalfSpace>
Converts this abstract shape to a halfspace, if it is one.
sourcepub fn as_segment(&self) -> Option<&Segment>
pub fn as_segment(&self) -> Option<&Segment>
Converts this abstract shape to a segment, if it is one.
sourcepub fn as_capsule(&self) -> Option<&Capsule>
pub fn as_capsule(&self) -> Option<&Capsule>
Converts this abstract shape to a capsule, if it is one.
sourcepub fn as_triangle(&self) -> Option<&Triangle>
pub fn as_triangle(&self) -> Option<&Triangle>
Converts this abstract shape to a triangle, if it is one.
sourcepub fn as_compound(&self) -> Option<&Compound>
pub fn as_compound(&self) -> Option<&Compound>
Converts this abstract shape to a compound shape, if it is one.
sourcepub fn as_trimesh(&self) -> Option<&TriMesh>
pub fn as_trimesh(&self) -> Option<&TriMesh>
Converts this abstract shape to a triangle mesh, if it is one.
sourcepub fn as_polyline(&self) -> Option<&Polyline>
pub fn as_polyline(&self) -> Option<&Polyline>
Converts this abstract shape to a polyline, if it is one.
sourcepub fn as_heightfield(
&self
) -> Option<&GenericHeightField<Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>, Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>>>
pub fn as_heightfield(
&self
) -> Option<&GenericHeightField<Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>, Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>>>
Converts this abstract shape to a heightfield, if it is one.
sourcepub fn as_round_cuboid(&self) -> Option<&RoundShape<Cuboid>>
pub fn as_round_cuboid(&self) -> Option<&RoundShape<Cuboid>>
Converts this abstract shape to a round cuboid, if it is one.
sourcepub fn as_round_triangle(&self) -> Option<&RoundShape<Triangle>>
pub fn as_round_triangle(&self) -> Option<&RoundShape<Triangle>>
Converts this abstract shape to a round triangle, if it is one.
pub fn as_convex_polyhedron(&self) -> Option<&ConvexPolyhedron>
sourcepub fn as_cylinder(&self) -> Option<&Cylinder>
pub fn as_cylinder(&self) -> Option<&Cylinder>
Converts this abstract shape to a cylinder, if it is one.
sourcepub fn as_round_cylinder(&self) -> Option<&RoundShape<Cylinder>>
pub fn as_round_cylinder(&self) -> Option<&RoundShape<Cylinder>>
Converts this abstract shape to a round cylinder, if it is one.
sourcepub fn as_round_cone(&self) -> Option<&RoundShape<Cone>>
pub fn as_round_cone(&self) -> Option<&RoundShape<Cone>>
Converts this abstract shape to a round cone, if it is one.
sourcepub fn as_round_convex_polyhedron(
&self
) -> Option<&RoundShape<ConvexPolyhedron>>
pub fn as_round_convex_polyhedron(
&self
) -> Option<&RoundShape<ConvexPolyhedron>>
Converts this abstract shape to a round convex polyhedron, if it is one.
Trait Implementations
sourceimpl AsRef<dyn Shape + 'static> for SharedShape
impl AsRef<dyn Shape + 'static> for SharedShape
sourceimpl Clone for SharedShape
impl Clone for SharedShape
sourcefn clone(&self) -> SharedShape
fn clone(&self) -> SharedShape
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
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
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert 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
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more