Struct parry2d_f64::shape::Compound

pub struct Compound { /* private fields */ }

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.

Implementations

impl Compound

pub fn new(shapes: Vec<(Isometry<Real>, 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).

pub fn decompose_trimesh(trimesh: &TriMesh) -> Option<Self>

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.

impl Compound

pub fn shapes(&self) -> &[(Isometry<Real>, SharedShape)]

The shapes of this compound shape.

pub fn local_aabb(&self) -> &Aabb

The Aabb of this compound in its local-space.

pub fn local_bounding_sphere(&self) -> BoundingSphere

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

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

The shapes Aabbs.

pub fn qbvh(&self) -> &Qbvh<u32>

The acceleration structure used by this compound shape.

Trait Implementations

impl Clone for Compound

fn clone(&self) -> Compound

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Compound

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

Formats the value using the given formatter.

impl PointQuery for Compound

fn project_local_point( &self, point: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn contains_local_point(&self, point: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

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

fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real

Computes the minimal distance between a point and self transformed by m.

fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (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.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.

impl RayCast for Compound

fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

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

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Compound

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

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

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

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point( &self, _feature: FeatureId, _point: &Point<Real> ) -> Option<Unit<Vector<Real>>>

The shape’s normal at the given point located on a specific feature.

fn compute_swept_aabb( &self, start_pos: &Isometry<Real>, end_pos: &Isometry<Real> ) -> 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.

impl SimdCompositeShape for Compound

fn map_part_at( &self, shape_id: u32, f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape) )

Applies a function to one sub-shape of this composite shape.

fn qbvh(&self) -> &Qbvh<u32>

Gets the acceleration structure of the composite shape.

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<Real>>, &Self::PartShape) )

fn map_untyped_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape) )

fn typed_qbvh(&self) -> &Qbvh<u32>