Struct Collider 

pub struct Collider {
    pub raw: SharedShape,
    /* private fields */
}

A geometric entity that can be attached to a RigidBody so it can be affected by contacts and intersection queries.

Related components:

• ColliderMassProperties
• ReadColliderMassProperties
• Friction
• Restitution
• Sensor
• CollisionGroups
• SolverGroups
• ActiveCollisionTypes
• ActiveEvents
• ContactForceEventThreshold
• CollidingEntities
• ColliderScale
• ColliderDisabled

Fields

raw: SharedShape

The raw shape from Rapier.

Implementations

impl Collider

pub fn scale(&self) -> Vect

The scaling factor that was applied to this collider.

pub fn promote_scaled_shape(&mut self)

This replaces the unscaled version of this collider by its scaled version, and resets self.scale() to 1.0.

pub fn compound(shapes: Vec<(Vect, Rot, Collider)>) -> Self

Initialize a new collider with a compound shape.

pub fn compound_with_flags( shapes: Vec<(Vect, Rot, Collider)>, flags: CompoundFlags, weld_tolerance: Option<Real>, ) -> Self

Initialize a new collider with a compound shape and flags controlling its optional pre-processing.

weld_tolerance is the distance (in ULPs) under which two corners of different parts are considered equal when detecting internal edges; None selects parry’s default.

pub fn ball(radius: Real) -> Self

Initialize a new collider with a ball shape defined by its radius.

pub fn halfspace(outward_normal: Vect) -> Option<Self>

Initialize a new collider build with a half-space shape defined by the outward normal of its planar boundary.

pub fn cuboid(half_x: Real, half_y: Real) -> Self

Initialize a new collider with a cuboid shape defined by its half-extents.

pub fn round_cuboid(half_x: Real, half_y: Real, border_radius: Real) -> Self

Initialize a new collider with a round cuboid shape defined by its half-extents and border radius.

pub fn capsule(start: Vect, end: Vect, radius: Real) -> Self

Initialize a new collider with a capsule shape.

pub fn capsule_x(half_height: Real, radius: Real) -> Self

Initialize a new collider with a capsule shape aligned with the x axis.

pub fn capsule_y(half_height: Real, radius: Real) -> Self

Initialize a new collider with a capsule shape aligned with the y axis.

pub fn segment(a: Vect, b: Vect) -> Self

Initializes a collider with a segment shape.

pub fn triangle(a: Vect, b: Vect, c: Vect) -> Self

Initializes a collider with a triangle shape.

pub fn round_triangle(a: Vect, b: Vect, c: Vect, border_radius: Real) -> Self

Initializes a collider with a triangle shape with round corners.

pub fn voxels(voxel_size: Vect, grid_coordinates: &[IVect]) -> Self

Initializes a shape made of voxels.

Each voxel has the size voxel_size and grid coordinate given by grid_coords. The primitive_geometry controls the behavior of collision detection at voxels boundaries.

For initializing a voxels shape from points in space, see Self::voxels_from_points. For initializing a voxels shape from a mesh to voxelize, see Self::voxelized_mesh. For initializing multiple voxels shape from the convex decomposition of a mesh, see Self::voxelized_convex_decomposition.

pub fn voxels_from_points(voxel_size: Vect, points: &[Vect]) -> Self

Initializes a shape made of voxels.

Each voxel has the size voxel_size and contains at least one point from centers. The primitive_geometry controls the behavior of collision detection at voxels boundaries.

pub fn voxelized_mesh( vertices: &[Vect], indices: &[[u32; 2]], voxel_size: Real, fill_mode: FillMode, ) -> Self

Initializes a voxels shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into voxelized convex parts.

pub fn voxelized_convex_decomposition( vertices: &[Vect], indices: &[[u32; 2]], ) -> Vec<Self>

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into voxelized convex parts.

pub fn voxelized_convex_decomposition_with_params( vertices: &[Vect], indices: &[[u32; 2]], params: &VHACDParameters, ) -> Vec<Self>

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into voxelized convex parts.

pub fn polyline(vertices: Vec<Vect>, indices: Option<Vec<[u32; 2]>>) -> Self

Initializes a collider with a polyline shape defined by its vertex and index buffers.

pub fn polyline_with_flags( vertices: Vec<Vect>, indices: Option<Vec<[u32; 2]>>, flags: PolylineFlags, ) -> Self

Initializes a collider with a polyline shape defined by its vertex and index buffers, and flags controlling its optional associated data (orientation, deformability).

pub fn oriented_polyline( vertices: Vec<Vect>, indices: Option<Vec<[u32; 2]>>, ) -> Self

Initializes a collider with a one-sided (oriented) polyline shape.

The segments only collide from their outward side, which is on the right of each segment’s direction: a counter-clockwise loop has a solid interior.

pub fn trimesh( vertices: Vec<Vect>, indices: Vec<[u32; 3]>, ) -> Result<Self, TriMeshBuilderError>

Initializes a collider with a triangle mesh shape defined by its vertex and index buffers.

pub fn trimesh_with_flags( vertices: Vec<Vect>, indices: Vec<[u32; 3]>, flags: TriMeshFlags, ) -> Result<Self, TriMeshBuilderError>

Initializes a collider with a triangle mesh shape defined by its vertex and index buffers, and flags controlling its pre-processing.

pub fn converted_trimesh( vertices: Vec<Vect>, indices: Vec<[u32; 3]>, converter: MeshConverter, ) -> Result<Self, MeshConverterError>

Initializes a collider with a shape converted from the given triangle mesh vertex and index buffers, following the conversion rule described by converter.

Conversions yielding a shape offset from the mesh origin (MeshConverter::Obb and MeshConverter::Aabb) are wrapped into a single-part compound shape to keep that offset.

pub fn convex_decomposition(vertices: &[Vect], indices: &[[u32; 2]]) -> Self

Initializes a collider with a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.

pub fn round_convex_decomposition( vertices: &[Vect], indices: &[[u32; 2]], border_radius: Real, ) -> Self

Initializes a collider with a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.

pub fn convex_decomposition_with_params( vertices: &[Vect], indices: &[[u32; 2]], params: &VHACDParameters, ) -> Self

Initializes a collider with a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.

pub fn round_convex_decomposition_with_params( vertices: &[Vect], indices: &[[u32; 2]], params: &VHACDParameters, border_radius: Real, ) -> Self

Initializes a collider with a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.

pub fn convex_hull(points: &[Vect]) -> Option<Self>

Initializes a new collider with a 2D convex polygon or 3D convex polyhedron obtained after computing the convex-hull of the given points.

pub fn round_convex_hull(points: &[Vect], border_radius: Real) -> Option<Self>

Initializes a new collider with a round 2D convex polygon or 3D convex polyhedron obtained after computing the convex-hull of the given points. The shape is dilated by a sphere of radius border_radius.

pub fn convex_polyline(points: Vec<Vect>) -> Option<Self>

Creates a new collider that is a convex polygon formed by the given polyline assumed to be convex (no convex-hull will be automatically computed).

pub fn convex_polyline_unmodified(points: Vec<Vect>) -> Option<Self>

Creates a new collider that is a convex polygon formed by the given polyline assumed to be convex and counter-clockwise.

Unlike Self::convex_polyline, no point is removed from the input even if some are collinear. Returns None if points contains less than three points.

pub fn round_convex_polyline( points: Vec<Vect>, border_radius: Real, ) -> Option<Self>

Creates a new collider that is a round convex polygon formed by the given polyline assumed to be convex (no convex-hull will be automatically computed). The polygon shape is dilated by a sphere of radius border_radius.

pub fn heightfield(heights: Vec<Real>, scale: Vect) -> Self

Initializes a collider with a heightfield shape defined by its set of height and a scale factor along each coordinate axis.

pub fn as_typed_shape(&self) -> ColliderView<'_>

Takes a strongly typed reference of this collider.

pub fn as_unscaled_typed_shape(&self) -> ColliderView<'_>

Takes a strongly typed reference of the unscaled version of this collider.

pub fn as_ball(&self) -> Option<BallView<'_>>

Downcast this collider to a ball, if it is one.

pub fn as_cuboid(&self) -> Option<CuboidView<'_>>

Downcast this collider to a cuboid, if it is one.

pub fn as_capsule(&self) -> Option<CapsuleView<'_>>

Downcast this collider to a capsule, if it is one.

pub fn as_segment(&self) -> Option<SegmentView<'_>>

Downcast this collider to a segment, if it is one.

pub fn as_triangle(&self) -> Option<TriangleView<'_>>

Downcast this collider to a triangle, if it is one.

pub fn as_voxels(&self) -> Option<VoxelsView<'_>>

Downcast this collider to a voxels, if it is one.

pub fn as_trimesh(&self) -> Option<TriMeshView<'_>>

Downcast this collider to a triangle mesh, if it is one.

pub fn as_polyline(&self) -> Option<PolylineView<'_>>

Downcast this collider to a polyline, if it is one.

pub fn as_halfspace(&self) -> Option<HalfSpaceView<'_>>

Downcast this collider to a half-space, if it is one.

pub fn as_heightfield(&self) -> Option<HeightFieldView<'_>>

Downcast this collider to a heightfield, if it is one.

pub fn as_compound(&self) -> Option<CompoundView<'_>>

Downcast this collider to a compound shape, if it is one.

pub fn as_convex_polygon(&self) -> Option<ConvexPolygonView<'_>>

Downcast this collider to a convex polygon, if it is one.

pub fn as_ball_mut(&mut self) -> Option<BallViewMut<'_>>

Downcast this collider to a mutable ball, if it is one.

pub fn as_cuboid_mut(&mut self) -> Option<CuboidViewMut<'_>>

Downcast this collider to a mutable cuboid, if it is one.

pub fn as_capsule_mut(&mut self) -> Option<CapsuleViewMut<'_>>

Downcast this collider to a mutable capsule, if it is one.

pub fn as_segment_mut(&mut self) -> Option<SegmentViewMut<'_>>

Downcast this collider to a mutable segment, if it is one.

pub fn as_triangle_mut(&mut self) -> Option<TriangleViewMut<'_>>

Downcast this collider to a mutable triangle, if it is one.

pub fn as_voxels_mut(&mut self) -> Option<VoxelsViewMut<'_>>

Downcast this collider to a mutable voxels, if it is one.

pub fn as_trimesh_mut(&mut self) -> Option<TriMeshViewMut<'_>>

Downcast this collider to a mutable triangle mesh, if it is one.

pub fn as_polyline_mut(&mut self) -> Option<PolylineViewMut<'_>>

Downcast this collider to a mutable polyline, if it is one.

pub fn as_halfspace_mut(&mut self) -> Option<HalfSpaceViewMut<'_>>

Downcast this collider to a mutable half-space, if it is one.

pub fn as_heightfield_mut(&mut self) -> Option<HeightFieldViewMut<'_>>

Downcast this collider to a mutable heightfield, if it is one.

pub fn as_compound_mut(&mut self) -> Option<CompoundViewMut<'_>>

Downcast this collider to a mutable compound shape, if it is one.

Like the other mutable downcasts, this clones the shape first if it is shared with other colliders. The parts of the compound remain shared.

pub fn set_scale(&mut self, scale: Vect, num_subdivisions: u32)

Set the scaling factor of this shape.

If the scaling factor is non-uniform, and the scaled shape can’t be represented as a supported smooth shape (for example scalling a Ball with a non-uniform scale results in an ellipse which isn’t supported), the shape is approximated by a convex polygon/convex polyhedron using num_subdivisions subdivisions.

pub fn project_local_point_with_max_dist( &self, point: Vect, solid: bool, max_dist: Real, ) -> Option<PointProjection>

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

The point is assumed to be expressed in the local-space of self.

pub fn project_point_with_max_dist( &self, translation: Vect, rotation: Rot, point: Vect, 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.

pub fn project_local_point(&self, point: Vect, solid: bool) -> PointProjection

Projects a point on self.

The point is assumed to be expressed in the local-space of self.

pub fn project_local_point_and_get_feature( &self, point: Vect, ) -> (PointProjection, FeatureId)

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

pub fn distance_to_local_point(&self, point: Vect, solid: bool) -> Real

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, point: Vect) -> bool

Tests if the given point is inside of self.

pub fn project_point( &self, translation: Vect, rotation: Rot, point: Vect, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point( &self, translation: Vect, rotation: Rot, point: Vect, solid: bool, ) -> Real

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

pub fn project_point_and_get_feature( &self, translation: Vect, rotation: Rot, point: Vect, ) -> (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.

pub fn contains_point( &self, translation: Vect, rotation: Rot, point: Vect, ) -> bool

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

pub fn cast_local_ray( &self, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, solid: bool, ) -> Option<Real>

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

pub fn cast_local_ray_and_get_normal( &self, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, solid: bool, ) -> Option<RayIntersection>

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

pub fn intersects_local_ray( &self, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, ) -> bool

Tests whether a ray intersects this transformed shape.

pub fn cast_ray( &self, translation: Vect, rotation: Rot, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, solid: bool, ) -> Option<Real>

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

pub fn cast_ray_and_get_normal( &self, translation: Vect, rotation: Rot, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, solid: bool, ) -> Option<RayIntersection>

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

pub fn intersects_ray( &self, translation: Vect, rotation: Rot, ray_origin: Vect, ray_dir: Vect, max_time_of_impact: Real, ) -> bool

Tests whether a ray intersects this transformed shape.

pub fn aabb(&self, translation: Vect, rotation: Rot) -> BevyAabb

Computes the axis-aligned bounding box of self transformed by the given translation and rotation.

pub fn local_aabb(&self) -> BevyAabb

Computes the axis-aligned bounding box of self in its local-space.

pub fn bounding_sphere( &self, translation: Vect, rotation: Rot, ) -> BevyBoundingSphere

Computes a bounding sphere (or circle in 2D) of self transformed by the given translation and rotation.

pub fn local_bounding_sphere(&self) -> BevyBoundingSphere

Computes a bounding sphere (or circle in 2D) of self in its local-space.

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

Computes the mass properties of self, assuming it has the given uniform density.

pub fn contact( &self, translation: Vect, rotation: Rot, other: &Collider, other_translation: Vect, other_rotation: Rot, prediction: Real, ) -> Result<Option<ShapeContact>, Unsupported>

Computes the contact between self and other, each transformed by their respective translation and rotation.

Returns Ok(None) if the colliders are separated by more than prediction. The contact points and normals are expressed in world-space.

pub fn distance( &self, translation: Vect, rotation: Rot, other: &Collider, other_translation: Vect, other_rotation: Rot, ) -> Result<Real, Unsupported>

Computes the minimal distance between self and other, each transformed by their respective translation and rotation.

Returns 0.0 if the colliders are intersecting.

pub fn intersection_test( &self, translation: Vect, rotation: Rot, other: &Collider, other_translation: Vect, other_rotation: Rot, ) -> Result<bool, Unsupported>

Tests whether self and other, each transformed by their respective translation and rotation, are intersecting.

pub fn closest_points( &self, translation: Vect, rotation: Rot, other: &Collider, other_translation: Vect, other_rotation: Rot, max_dist: Real, ) -> Result<ShapeClosestPoints, Unsupported>

Computes the closest points between self and other, each transformed by their respective translation and rotation.

Returns ShapeClosestPoints::Disjoint if the colliders are separated by more than max_dist. The closest points are expressed in world-space.

pub fn cast_shape( &self, translation: Vect, rotation: Rot, velocity: Vect, other: &Collider, other_translation: Vect, other_rotation: Rot, other_velocity: Vect, options: ShapeCastOptions, ) -> Result<Option<ShapeCastHit>, Unsupported>

Computes the first time of impact between self and other, each starting at their respective translation and rotation, and moving with a constant linear velocity.

Returns Ok(None) if they do not hit within ShapeCastOptions::max_time_of_impact. The witness points and normals of the result are expressed in the local-space of each collider.

pub fn cast_shape_nonlinear( &self, motion: &NonlinearMotion, other: &Collider, other_motion: &NonlinearMotion, start_time: Real, end_time: Real, stop_at_penetration: bool, ) -> Result<Option<ShapeCastHit>, Unsupported>

Computes the first time of impact between self and other, each following a nonlinear rigid motion (with both linear and angular velocities).

Only the time interval [start_time, end_time] is considered. If stop_at_penetration is true and the colliders are initially penetrating, a hit at start_time is returned. The witness points and normals of the result are expressed in the local-space of each collider.

Trait Implementations

impl AsShape for Collider

fn as_shape(&self) -> &dyn Shape

The shape used by the query.

impl Clone for Collider

fn clone(&self) -> Collider

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for Collider

where Self: Send + Sync + 'static,

Required Components: ReadColliderMassProperties.

A component’s Required Components are inserted whenever it is inserted. Note that this will also insert the required components of the required components, recursively, in depth-first order.

const STORAGE_TYPE: StorageType = ::bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

type Mutability = Mutable

A marker type to assist Bevy with determining if this component is mutable, or immutable. Mutable components will have Component<Mutability = Mutable>, while immutable components will instead have Component<Mutability = Immutable>.

fn register_required_components( _requiree: ComponentId, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

Registers required components.

fn clone_behavior() -> ComponentCloneBehavior

Called when registering this component, allowing to override clone function (or disable cloning altogether) for this component.

fn relationship_accessor() -> Option<ComponentRelationshipAccessor<Self>>

Returns ComponentRelationshipAccessor required for working with relationships in dynamic contexts.

fn on_add() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_add ComponentHook for this Component if one is defined.

fn on_insert() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_insert ComponentHook for this Component if one is defined.

fn on_discard() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_discard ComponentHook for this Component if one is defined.

fn on_remove() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_remove ComponentHook for this Component if one is defined.

fn on_despawn() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_despawn ComponentHook for this Component if one is defined.

fn map_entities<E>(_this: &mut Self, _mapper: &mut E)

where E: EntityMapper,

Maps the entities on this component using the given EntityMapper. This is used to remap entities in contexts like scenes and entity cloning. When deriving Component, this is populated by annotating fields containing entities with #[entities]

const HAS_SUMMARY_TICK: bool = false

Set this constant to true if the component should track a summary tick.

impl Debug for Collider

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

Formats the value using the given formatter.

impl Default for Collider

fn default() -> Self

Returns the “default value” for a type.

impl<'a> From<&'a Collider> for &'a dyn Shape

fn from(collider: &'a Collider) -> &'a dyn Shape

Converts to this type from the input type.

impl From<SharedShape> for Collider

fn from(shared_shape: SharedShape) -> Collider

Converts to this type from the input type.