Struct CompoundShape 

pub struct CompoundShape<const D: usize> { /* private fields */ }

A convex rigid body composed of multiple child shapes.

The overall support function is the argmax of all children’s support points transformed into the compound’s local frame. This makes compound shapes first-class Shape<D> objects compatible with GJK.

Implementations

impl<const D: usize> CompoundShape<D>

pub fn new() -> Self

Create an empty compound shape.

pub fn add_child(&mut self, transform: Transform<D>, shape: Box<dyn Shape<D>>)

Add a child shape at the given local-frame transform.

Recomputes the cached bounding sphere after each addition.

pub fn child_count(&self) -> usize

Number of child shapes.

Trait Implementations

impl<const D: usize> Default for CompoundShape<D>

fn default() -> Self

Returns the “default value” for a type.

impl<const D: usize> Shape<D> for CompoundShape<D>

fn support(&self, direction: &SVector<f64, D>) -> SVector<f64, D>

Support function: furthest point on any child in the given direction.

For each child:

1. Rotate direction into child’s local frame (inverse rotation).
2. Query child’s support in that local direction.
3. Transform the result back to compound-local frame.
4. Return the child whose result has the maximum dot with direction.

fn bounding_sphere(&self) -> (Point<D>, f64)

Bounding sphere: (center, radius).

fn as_any(&self) -> &dyn Any

Downcast to concrete type for specialized collision dispatch.