Struct jumpy::core::physics::collisions::rapier::Compound

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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.

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§shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)>§qbvh: GenericQbvh<u32, DefaultStorage>§aabbs: Vec<Aabb>§aabb: Aabb

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impl Compound

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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).

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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.

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impl Compound

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pub fn shapes(&self) -> &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)]

The shapes of this compound shape.

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pub fn local_aabb(&self) -> &Aabb

The Aabb of this compound in its local-space.

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pub fn local_bounding_sphere(&self) -> BoundingSphere

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

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

The shapes Aabbs.

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pub fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>

The acceleration structure used by this compound shape.

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impl Clone for Compound

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fn clone(&self) -> Compound

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Compound

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fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter. Read more
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impl PointQuery for Compound

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fn project_local_point( &self, point: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection

Projects a point on self. Read more
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fn project_local_point_and_get_feature( &self, point: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.
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fn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool

Tests if the given point is inside of self.
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fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more
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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>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.
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fn distance_to_local_point( &self, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self.
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fn project_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.
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fn distance_to_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self transformed by m.
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fn project_point_and_get_feature( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> (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.
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fn contains_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> bool

Tests if the given point is inside of self transformed by m.
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impl RayCast for Compound

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

Tests whether a ray intersects this transformed shape.
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fn cast_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<f32>

Computes the time of impact between this transform shape and a ray.
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fn cast_ray_and_get_normal( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.
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fn intersects_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, ) -> bool

Tests whether a ray intersects this transformed shape.
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impl Shape for Compound

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fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.
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fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.
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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.
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fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb

Computes the Aabb of this shape with the given position.
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fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.
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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.
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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.
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fn ccd_thickness(&self) -> f32

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fn ccd_angular_thickness(&self) -> f32

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

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fn compute_bounding_sphere( &self, position: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.
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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more
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fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.
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fn feature_normal_at_point( &self, _feature: FeatureId, _point: &OPoint<f32, Const<2>>, ) -> Option<Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>>

The shape’s normal at the given point located on a specific feature.
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fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, end_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.
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impl SimdCompositeShape for Compound

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fn map_part_at( &self, shape_id: u32, f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &(dyn Shape + 'static)), )

Applies a function to one sub-shape of this composite shape.
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fn qbvh(&self) -> &GenericQbvh<u32, DefaultStorage>

Gets the acceleration structure of the composite shape.
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impl TypedSimdCompositeShape for Compound

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