# [−][src]Module rapier3d::geometry

Structures related to geometry: colliders, shapes, etc.

## Structs

Ball | A Ball shape. |

BroadPhase | A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world. |

Capsule | A capsule shape defined as a round segment. |

Collider | A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries. |

ColliderBuilder | A structure responsible for building a new collider. |

ColliderHandle | The unique identifier of a collider added to a collider set. |

ColliderSet | A set of colliders that can be handled by a physics |

Compound | A compound shape with an aabb bounding volume. |

Cone | Cone shape with its principal axis aligned with the |

ContactData | A single contact between two collider. |

ContactManifoldData | A contact manifold between two colliders. |

ContactPair | The description of all the contacts between a pair of colliders. |

ConvexPolyhedron | A convex polyhedron without degenerate faces. |

Cuboid | Shape of a box. |

Cylinder | Cylinder shape with its principal axis aligned with the |

HalfSpace | A half-space delimited by an infinite plane. |

HeightField | An heightfield implicitly discretized with triangles. |

HeightFieldCellStatus | The status of the cell of an heightfield. |

InteractionGraph | A graph where nodes are collision objects and edges are contact or proximity algorithms. |

InteractionGroups | Pairwise filtering using bit masks. |

IntersectionEvent | Events occurring when two collision objects start or stop being in close proximity, contact, or disjoint. |

NarrowPhase | The narrow-phase responsible for computing precise contact information between colliders. |

PairFilterContext | Context given to custom collision filters to filter-out collisions. |

PolygonalFeature | A polygonal feature representing the local polygonal approximation of a vertex, face, or edge of a convex shape. |

Polyline | A polyline. |

RoundShape | A shape with rounded borders. |

Segment | A segment shape. |

SharedShape | The shape of a collider. |

SolverContact | A contact seen by the constraints solver for computing forces. |

SolverFlags | Flags affecting the behavior of the constraints solver for a given contact manifold. |

Tetrahedron | A tetrahedron with 4 vertices. |

TrackedContact | A single contact between two shape. |

TriMesh | A triangle mesh. |

Triangle | A triangle shape. |

## Enums

ContactEvent | Events occurring when two collision objects start or stop being in contact (or penetration). |

FeatureId | An identifier of a feature of a convex polyhedron. |

SegmentPointLocation | Logical description of the location of a point on a triangle. |

ShapeType | Enum representing the type of a shape. |

TetrahedronPointLocation | Logical description of the location of a point on a triangle. |

TrianglePointLocation | Description of the location of a point on a triangle. |

## Traits

ContactPairFilter | User-defined filter for potential contact pairs detected by the broad-phase. |

IntersectionPairFilter | User-defined filter for potential intersection pairs detected by the broad-phase. |

PolygonalFeatureMap | Trait implemented by convex shapes with features with polyhedral approximations. |

Shape | Trait implemented by shapes usable by Rapier. |

SimdCompositeShape | Trait implemented by shapes composed of multiple simpler shapes. |

SupportMap | Traits of convex shapes representable by a support mapping function. |

TypedSimdCompositeShape |

## Type Definitions

AABB | An axis-aligned bounding box. |

Ball | A ball shape. |

Capsule | A capsule shape. |

ColliderGraphIndex | Index of a node of the interaction graph. |

Cone | A cone shape. |

Contact | A contact between two colliders. |

ContactManifold | A contact manifold between two colliders. |

Cuboid | A cuboid shape. |

Cylinder | A cylindrical shape. |

HeightField | A heightfield shape. |

PointProjection | The the projection of a point on a collider. |

Ray | A ray that can be cast against colliders. |

RayIntersection | The intersection between a ray and a collider. |

RigidBodyGraphIndex | Index of a node of the interaction graph. |

RoundCone | A cone dilated by a sphere (so it has round corners). |

RoundConvexPolyhedron | A convex polyhedron dilated by a sphere (so it has round corners). |

RoundCuboid | A cuboid dilated by a sphere (so it has round corners). |

RoundCylinder | A cylinder dilated by a sphere (so it has round corners). |

RoundTriangle | A triangle dilated by a sphere (so it has round corners). |

Segment | A segment shape. |

TOI | The the time of impact between two shapes. |

TemporaryInteractionIndex | Temporary index to and edge of the interaction graph. |

Triangle | A triangle shape. |