Struct rapier3d::geometry::Compound

pub struct Compound { /* fields omitted */ }

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

pub fn new(
    shapes: Vec<(Isometry<f32, U3, Unit<Quaternion<f32>>>, 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

pub fn shapes(
    &self
) -> &[(Isometry<f32, U3, Unit<Quaternion<f32>>>, SharedShape)]

The shapes of this compound shape.

pub fn local_aabb(&self) -> &AABB

The AABB of this compound in its local-space.

pub fn local_bounding_sphere(&self) -> BoundingSphere

The bounding-sphere of this compound in its local-space.

pub fn aabbs(&self) -> &[AABB]

The shapes AABBs.

pub fn quadtree(&self) -> &SimdQuadTree<u32>

The acceleration structure used by this compound shape.

Trait Implementations

impl Clone for Compound

pub fn clone(&self) -> Compound

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl PointQuery for Compound

pub fn project_local_point(
    &self,
    point: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    point: &Point<f32, U3>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

pub fn contains_local_point(&self, point: &Point<f32, U3>) -> bool

Tests if the given point is inside of self.

pub fn distance_to_local_point(&self, pt: &Point<f32, U3>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self transformed by m.

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

pub fn contains_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> bool

Tests if the given point is inside of self transformed by m.

impl RayCast for Compound

pub fn cast_local_ray(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn cast_local_ray_and_get_normal(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Compound

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

pub fn compute_bounding_sphere(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

pub fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U3>
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

The shape’s normal at the given point located on a specific feature.

impl SimdCompositeShape for Compound

pub fn map_part_at(
    &self,
    shape_id: u32,
    f: &mut dyn FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &(dyn Shape + 'static))
)

Applies a function to one sub-shape of this composite shape.

pub fn quadtree(&self) -> &SimdQuadTree<u32>

Gets the acceleration structure of the composite shape.

impl TypedSimdCompositeShape for Compound

type PartShape = dyn Shape + 'static

type PartId = u32

pub fn map_typed_part_at(
    &self,
    i: u32,
    f: impl FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)

pub fn map_untyped_part_at(
    &self,
    i: u32,
    f: impl FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)

pub fn typed_quadtree(&self) -> &SimdQuadTree<u32>