Module jumpy::core::physics::collisions::rapier

Prelude containing the common types defined by Rapier.

Modules

• nalgebra
  nalgebra

Macros

• point
  Construct a fixed-size point directly from data.
• vector
  Construct a fixed-size column vector directly from data.

Structs

• ActiveCollisionTypes
  Flags affecting whether or not collision-detection happens between two colliders depending on the type of rigid-bodies they are attached to.
• ActiveEvents
  Flags affecting the events generated for this collider.
• ActiveHooks
  Flags affecting the behavior of the constraints solver for a given contact manifold.
• BodyPair
  A pair of rigid body handles.
• BroadPhaseMultiSap
  A broad-phase combining a Hierarchical Grid and Sweep-and-Prune.
• CCDSolver
  Solver responsible for performing motion-clamping on fast-moving bodies.
• ChannelEventCollector
  A collision event handler that collects events into a crossbeam channel.
• 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.)
• ColliderPair
  A pair of collider handles.
• 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.
• CollisionEventFlags
  Flags providing more information regarding a collision event.
• CollisionPipeline
  The collision pipeline, responsible for performing collision detection between colliders.
• Compound
  A compound shape with an aabb bounding volume.
• ContactData
  A single contact between two collider.
• ContactForceEvent
  Event occurring when the sum of the magnitudes of the contact forces between two colliders exceed a threshold.
• ContactManifoldData
  A contact manifold between two colliders.
• ContactModificationContext
  Context given to custom contact modifiers to modify the contacts seen by the constraints solver.
• ContactPair
  The description of all the contacts between a pair of colliders.
• ConvexPolygon
  A 2D convex polygon.
• DebugRenderMode
  Flags indicating what part of the physics engine should be rendered by the debug-renderer.
• DebugRenderPipeline
  Pipeline responsible for rendering the state of the physics engine for debugging purpose.
• DebugRenderStyle
  Style used for computing colors when rendering the scene.
• FixedJoint
  A fixed joint, locks all relative motion between two bodies.
• FixedJointBuilder
  Create fixed joints using the builder pattern.
• GenericHeightField
  A 2D heightfield with a generic storage buffer for its heights.
• GenericJoint
  A generic joint.
• GenericJointBuilder
  Create generic joints using the builder pattern.
• GenericTriMesh
  A triangle mesh.
• Group
  A bit mask identifying groups for interaction.
• HalfSpace
  A half-space delimited by an infinite plane.
• ImpulseJoint
  An impulse-based joint attached to two bodies.
• ImpulseJointHandle
  The unique identifier of a joint added to the joint set. The unique identifier of a collider added to a collider set.
• ImpulseJointSet
  A set of impulse_joints that can be handled by a physics World.
• IntegrationParameters
  Parameters for a time-step of the physics engine.
• InteractionGraph
  A graph where nodes are collision objects and edges are contact or proximity algorithms.
• InteractionGroups
  Pairwise filtering using bit masks.
• IntersectionPair
  The description of all the contacts between a pair of colliders.
• IslandManager
  Structure responsible for maintaining the set of active rigid-bodies, and putting non-moving rigid-bodies to sleep to save computation times.
• JointAxesMask
  A bit mask identifying multiple degrees of freedom of a joint.
• JointLimits
  The limits of a joint along one of its degrees of freedom.
• JointMotor
  A joint’s motor along one of its degrees of freedom.
• LockedAxes
  Flags affecting the behavior of the constraints solver for a given contact manifold.
• MassProperties
  The local mass properties of a rigid-body.
• Multibody
  An articulated body simulated using the reduced-coordinates approach.
• MultibodyIndex
  The temporary index of a multibody added to a MultibodyJointSet.
• MultibodyJoint
  An joint attached to two bodies based on the reduced coordinates formalism.
• MultibodyJointHandle
  The unique handle of an multibody_joint added to a MultibodyJointSet.
• MultibodyJointSet
  A set of rigid bodies that can be handled by a physics pipeline.
• MultibodyLink
  One link of a multibody.
• MultibodyLinkId
  Indexes usable to get a multibody link from a MultibodyJointSet.
• NarrowPhase
  The narrow-phase responsible for computing precise contact information between colliders.
• PackedFeatureId
  A feature id where the feature type is packed into the same value as the feature index.
• PairFilterContext
  Context given to custom collision filters to filter-out collisions.
• PhysicsPipeline
  The physics pipeline, responsible for stepping the whole physics simulation.
• PolygonalFeature
  A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.
• Polyline
  A polyline.
• PrismaticJoint
  A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
• PrismaticJointBuilder
  Create prismatic joints using the builder pattern.
• QueryFilter
  A filter tha describes what collider should be included or excluded from a scene query.
• QueryFilterFlags
  Flags for excluding whole sets of colliders from a scene query.
• QueryPipeline
  A pipeline for performing queries on all the colliders of a scene.
• RevoluteJoint
  A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
• RevoluteJointBuilder
  Create revolute joints using the builder pattern.
• RigidBody
  A rigid body.
• RigidBodyActivation
  The rb_activation status of a body.
• RigidBodyBuilder
  A builder for rigid-bodies.
• RigidBodyCcd
  Information used for Continuous-Collision-Detection.
• RigidBodyChanges
  Flags describing how the rigid-body has been modified by the user.
• RigidBodyColliders
  The set of colliders attached to this rigid-bodies.
• RigidBodyDamping
  Damping factors to progressively slow down a rigid-body.
• RigidBodyDominance
  The dominance groups of a rigid-body.
• RigidBodyForces
  The user-defined external forces applied to this rigid-body.
• RigidBodyHandle
  The unique handle of a rigid body added to a RigidBodySet.
• RigidBodyIds
  Internal identifiers used by the physics engine.
• RigidBodyMassProps
  The mass properties of a rigid-body.
• RigidBodyPosition
  The position of this rigid-body.
• RigidBodySet
  A set of rigid bodies that can be handled by a physics pipeline.
• RigidBodyVelocity
  The velocities of this rigid-body.
• RopeJoint
  A rope joint, limits the maximum distance between two bodies
• RopeJointBuilder
  Create rope joints using the builder pattern.
• RoundShape
  A shape with rounded borders.
• 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.
• SpringJoint
  A spring-damper joint, applies a force proportional to the distance between two objects.
• SpringJointBuilder
  A SpringJoint joint using the builder pattern.
• TopoFace
  A face of a triangle-mesh’s half-edge topology.
• TopoHalfEdge
  A half-edge of a triangle-mesh’s half-edge topology.
• TopoVertex
  A vertex of a triangle-mesh’s half-edge topology.
• TrackedContact
  A single contact between two shape.
• TriMeshConnectedComponents
  The connected-components of a triangle mesh.
• TriMeshFlags
  The status of the cell of an heightfield.
• TriMeshTopology
  The half-edge topology information of a triangle mesh.

Enums

• BroadPhasePairEvent
  An event emitted by the broad-phase.
• CoefficientCombineRule
  Rules used to combine two coefficients.
• ColliderEnabled
  Enum indicating whether or not a collider is enabled.
• ColliderMassProps
  The mass-properties of a collider.
• ColliderType
  The type of collider.
• CollisionEvent
  Events occurring when two colliders start or stop colliding
• DebugRenderObject
  The object currently being rendered by the debug-renderer.
• FeatureId
  An identifier of a feature of a convex polyhedron.
• JointAxis
  Identifiers of degrees of freedoms of a joint.
• JointEnabled
  Enum indicating whether or not a joint is enabled.
• MotorModel
  The spring-like model used for constraints resolution.
• QueryPipelineMode
  Indicates how the colliders position should be taken into account when updating the query pipeline.
• RigidBodyAdditionalMassProps
  Mass and angular inertia added to a rigid-body on top of its attached colliders’ contributions.
• RigidBodyType
  The status of a body, governing the way it is affected by external forces.
• SegmentPointLocation
  Logical description of the location of a point on a triangle.
• ShapeType
  Enum representing the type of a shape.
• TopologyError
  Indicated an inconsistency in the topology of a triangle mesh.
• TriangleOrientation
  Orientation of a triangle.
• TrianglePointLocation
  Description of the location of a point on a triangle.
• TypedShape
  Enum representing the shape with its actual type

Constants

• ANG_DIM
  The maximum number of rotational degrees of freedom of a rigid-body.
• DEFAULT_EPSILON
  The default tolerance used for geometric operations.
• DIM
  The dimension of the space.
• MAX_MANIFOLD_POINTS
  Max number of pairs of contact points from the same contact manifold that can be solved as part of a single contact constraint.
• SIMD_LAST_INDEX
  SIMD_WIDTH - 1
• SIMD_WIDTH
  The number of lanes of a SIMD number.
• SPATIAL_DIM
  The maximum number of possible rotations and translations of a rigid body.
• TWO_DIM
  The dimension of the space multiplied by two.

Traits

• BoundingVolume
  Trait of bounding volumes.
• BroadPhase
  Trait implemented by broad-phase algorithms supported by Rapier.
• DebugRenderBackend
  Trait implemented by graphics backends responsible for rendering the physics scene.
• EventHandler
  Trait implemented by structures responsible for handling events generated by the physics engine.
• HeightFieldStorage
  Trait describing all the types needed for storing an heightfield’s data.
• PhysicsHooks
  User-defined functions called by the physics engines during one timestep in order to customize its behavior.
• PointQuery
  Trait of objects that can be tested for point inclusion and projection.
• PointQueryWithLocation
  Returns shape-specific info in addition to generic projection information
• PolygonalFeatureMap
  Trait implemented by convex shapes with features with polyhedral approximations.
• RayCast
  Traits of objects which can be transformed and tested for intersection with a ray.
• 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.
• TriMeshStorage
  Trait describing all the types needed for storing a triangle mesh’s data.
• TypedSimdCompositeShape

Functions

• unit_joint_limit_constraint
  Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
• unit_joint_motor_constraint
  Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.

Type Aliases

• Aabb
  An axis-aligned bounding box.
• AngDim
  The dimension of the rotations.
• AngVector
  The angular vector type.
• AngularInertia
  The angular inertia of a rigid body.
• Ball
  A ball shape.
• BodyStatusDeprecated
  The type of a body, governing the way it is affected by external forces.
• Capsule
  A capsule shape.
• ColliderGraphIndex
  Index of a node of the interaction graph.
• ColliderShape
  The shape of a collider.
• Contact
  A contact between two colliders.
• ContactManifold
  A contact manifold between two colliders.
• CrossMatrix
  A matrix that represent the cross product with a given vector.
• Cuboid
  A cuboid shape.
• DMatrix
  A dynamically sized column-major matrix.
• DVector
  A dynamically sized column vector.
• DebugColor
  A color for debug-rendering.
• DefaultBroadPhase
  The default broad-phase implementation recommended for general-purpose usage.
• Dim
  The dimension of the ambient space.
• HeightField
  A heightfield shape.
• HeightFieldCellStatus
  Indicates if a cell of an heightfield is removed or not. Set this to false for a removed cell.
• Isometry
  The transformation matrix type.
• Jacobian
  The type of a constraint Jacobian in twist coordinates.
• JacobianView
  The type of a slice of the constraint Jacobian in twist coordinates.
• JacobianViewMut
  The type of a mutable slice of the constraint Jacobian in twist coordinates.
• Matrix
  The matrix type.
• Orientation
  The orientation type.
• Point
  The point type.
• PointProjection
  The projection of a point on a collider.
• PrincipalAngularInertia
  The principal angular inertia of a rigid body.
• Ray
  A ray that can be cast against colliders.
• RayIntersection
  The intersection between a ray and a collider.
• Real
  The scalar type used throughout this crate.
• RigidBodyGraphIndex
  Index of a node of the interaction graph.
• Rotation
  The rotation matrix type.
• RoundConvexPolygon
  A convex polygon dilated by a sphere (so it has round corners).
• RoundCuboid
  A cuboid dilated by a sphere (so it has round corners).
• RoundTriangle
  A triangle dilated by a sphere (so it has round corners).
• SdpMatrix
  A 2D symmetric-definite-positive matrix.
• Segment
  A segment shape.
• SimdBool
  A SIMD bool with SIMD_WIDTH lanes.
• SimdReal
  A SIMD float with SIMD_WIDTH lanes.
• SpacialVector
  A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
• TOI
  The time of impact between two shapes.
• TemporaryInteractionIndex
  Temporary index to and edge of the interaction graph.
• Translation
  The translation type.
• TriMesh
  A triangle-mesh.
• Triangle
  A triangle shape.
• UnitVector
  The unit vector type.
• Vector
  The vector type.