Module rapier3d::geometry

Structures related to geometry: colliders, shapes, etc.

Structs

ActiveCollisionTypes	Flags affecting whether or not collision-detection happens between two colliders depending on the type of rigid-bodies they are attached to.
Ball	A Ball shape.
BroadPhase	A broad-phase combining a Hierarchical Grid and Sweep-and-Prune.
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.
ColliderBroadPhaseData	Data associated to a collider that takes part to a broad-phase algorithm.
ColliderBuilder	A structure responsible for building a new collider.
ColliderChanges	Flags describing how the collider has been modified by the user.
ColliderFlags	A set of flags for controlling collision/intersection filtering, modification, and events.
ColliderHandle	The unique identifier of a collider added to a collider set.
ColliderMaterial	The constraints solver-related properties of this collider (friction, restitution, etc.)
ColliderParent	Information about the rigid-body this collider is attached to.
ColliderPosition	The position of a collider.
ColliderSet	A set of colliders that can be handled by a physics World.
Compound	A compound shape with an aabb bounding volume.
Cone	Cone shape with its principal axis aligned with the y axis.
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 y axis.
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.
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

ColliderMassProps	The mass-properties of a collider.
ColliderType	The type of collider.
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.
TypedShape	Enum representing the shape with its actual type

Traits

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.
ColliderShape	The shape of a collider.
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.