pub struct Compound {
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)>,
qbvh: GenericQbvh<u32, DefaultStorage>,
aabbs: Vec<Aabb>,
aabb: Aabb,
}
Expand description
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.
Fields§
§shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)>
§qbvh: GenericQbvh<u32, DefaultStorage>
§aabbs: Vec<Aabb>
§aabb: Aabb
Implementations§
source§impl Compound
impl Compound
sourcepub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)>,
) -> Compound
pub fn new( shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)>, ) -> 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).
sourcepub fn decompose_trimesh(
trimesh: &GenericTriMesh<DefaultStorage>,
) -> Option<Compound>
pub fn decompose_trimesh( trimesh: &GenericTriMesh<DefaultStorage>, ) -> Option<Compound>
Create a compound shape from the TriMesh
. This involves merging adjacent triangles into convex
polygons using the Hertel-Mehlhorn algorithm.
Can fail and return None
if any of the created shapes has close to zero or zero surface area.
source§impl Compound
impl Compound
sourcepub fn shapes(&self) -> &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)]
pub fn shapes(&self) -> &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)]
The shapes of this compound shape.
sourcepub fn local_aabb(&self) -> &Aabb
pub fn local_aabb(&self) -> &Aabb
The Aabb
of this compound in its local-space.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
The bounding-sphere of this compound in its local-space.
sourcepub fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>
pub fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>
The acceleration structure used by this compound shape.
Trait Implementations§
source§impl PointQuery for Compound
impl PointQuery for Compound
source§fn project_local_point(
&self,
point: &OPoint<f32, Const<2>>,
solid: bool,
) -> PointProjection
fn project_local_point( &self, point: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection
self
. Read moresource§fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2>>,
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature( &self, point: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)
self
and returns the id of the
feature the point was projected on.source§fn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool
fn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool
self
.source§fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32,
) -> Option<PointProjection>
fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>
self
, unless the projection lies further than the given max distance. Read moresource§fn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32,
) -> Option<PointProjection>
fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>
self
transformed by m
, unless the projection lies further than the given max distance.source§fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<2>>,
solid: bool,
) -> f32
fn distance_to_local_point( &self, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32
self
.source§fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool,
) -> PointProjection
fn project_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection
self
transformed by m
.source§fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool,
) -> f32
fn distance_to_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32
self
transformed by m
.source§impl RayCast for Compound
impl RayCast for Compound
source§fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
source§fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool,
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<RayIntersection>
source§fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
source§fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
ray: &Ray,
max_toi: f32,
solid: bool,
) -> Option<f32>
fn cast_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<f32>
source§impl Shape for Compound
impl Shape for Compound
source§fn compute_local_aabb(&self) -> Aabb
fn compute_local_aabb(&self) -> Aabb
Aabb
of this shape.source§fn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
source§fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb
fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb
Aabb
of this shape with the given position.source§fn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> MassProperties
source§fn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
source§fn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
source§fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2>,
) -> BoundingSphere
fn compute_bounding_sphere( &self, position: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere
source§fn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
source§fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
source§impl SimdCompositeShape for Compound
impl SimdCompositeShape for Compound
source§fn map_part_at(
&self,
shape_id: u32,
f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &(dyn Shape + 'static)),
)
fn map_part_at( &self, shape_id: u32, f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &(dyn Shape + 'static)), )
source§fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>
fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>
source§impl TypedSimdCompositeShape for Compound
impl TypedSimdCompositeShape for Compound
type PartShape = dyn Shape
type PartId = u32
type QbvhStorage = DefaultStorage
fn map_typed_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &<Compound as TypedSimdCompositeShape>::PartShape), )
fn map_untyped_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &<Compound as TypedSimdCompositeShape>::PartShape), )
fn typed_qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>
Auto Trait Implementations§
impl Freeze for Compound
impl !RefUnwindSafe for Compound
impl Send for Compound
impl Sync for Compound
impl Unpin for Compound
impl !UnwindSafe for Compound
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