Struct parry3d::shape::SharedShape
source · pub struct SharedShape(pub Arc<dyn Shape>);
Expand description
The shape of a collider.
Tuple Fields§
§0: Arc<dyn Shape>
Implementations§
sourcepub fn make_mut(&mut self) -> &mut dyn Shape
pub fn make_mut(&mut self) -> &mut dyn Shape
If this shape is shared, then the content of self
is cloned into a unique instance,
and a mutable reference to that instance is returned.
sourcepub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self
pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self
Initialize a compound shape defined by its subshapes.
sourcepub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self
pub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self
Initialize a plane shape defined by its outward normal.
sourcepub fn cylinder(half_height: Real, radius: Real) -> Self
pub fn cylinder(half_height: Real, radius: Real) -> Self
Initialize a cylindrical shape defined by its half-height (along along the y axis) and its radius.
sourcepub fn round_cylinder(
half_height: Real,
radius: Real,
border_radius: Real
) -> Self
pub fn round_cylinder( half_height: Real, radius: Real, border_radius: Real ) -> Self
Initialize a rounded cylindrical shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).
sourcepub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self
pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self
Initialize a rounded cone shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).
sourcepub fn cone(half_height: Real, radius: Real) -> Self
pub fn cone(half_height: Real, radius: Real) -> Self
Initialize a cone shape defined by its half-height (along along the y axis) and its basis radius.
sourcepub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self
pub fn cuboid(hx: Real, hy: Real, hz: Real) -> Self
Initialize a cuboid shape defined by its half-extents.
sourcepub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self
pub fn round_cuboid(hx: Real, hy: Real, hz: Real, border_radius: Real) -> Self
Initialize a round cuboid shape defined by its half-extents and border radius.
sourcepub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self
pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self
Initialize a capsule shape from its endpoints and radius.
sourcepub fn capsule_x(half_height: Real, radius: Real) -> Self
pub fn capsule_x(half_height: Real, radius: Real) -> Self
Initialize a capsule shape aligned with the x
axis.
sourcepub fn capsule_y(half_height: Real, radius: Real) -> Self
pub fn capsule_y(half_height: Real, radius: Real) -> Self
Initialize a capsule shape aligned with the y
axis.
sourcepub fn capsule_z(half_height: Real, radius: Real) -> Self
pub fn capsule_z(half_height: Real, radius: Real) -> Self
Initialize a capsule shape aligned with the z
axis.
sourcepub fn segment(a: Point<Real>, b: Point<Real>) -> Self
pub fn segment(a: Point<Real>, b: Point<Real>) -> Self
Initialize a segment shape from its endpoints.
sourcepub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self
pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self
Initializes a triangle shape.
sourcepub fn round_triangle(
a: Point<Real>,
b: Point<Real>,
c: Point<Real>,
border_radius: Real
) -> Self
pub fn round_triangle( a: Point<Real>, b: Point<Real>, c: Point<Real>, border_radius: Real ) -> Self
Initializes a triangle shape with round corners.
sourcepub fn polyline(
vertices: Vec<Point<Real>>,
indices: Option<Vec<[u32; 2]>>
) -> Self
pub fn polyline( vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>> ) -> Self
Initializes a polyline shape defined by its vertex and index buffers.
If no index buffer is provided, the polyline is assumed to describe a line strip.
sourcepub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self
Initializes a triangle mesh shape defined by its vertex and index buffers.
sourcepub fn trimesh_with_flags(
vertices: Vec<Point<Real>>,
indices: Vec<[u32; 3]>,
flags: TriMeshFlags
) -> Self
pub fn trimesh_with_flags( vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>, flags: TriMeshFlags ) -> Self
Initializes a triangle mesh shape defined by its vertex and index buffers and pre-processing flags.
sourcepub fn convex_decomposition(
vertices: &[Point<Real>],
indices: &[[u32; 3]]
) -> Self
pub fn convex_decomposition( vertices: &[Point<Real>], indices: &[[u32; 3]] ) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
sourcepub fn round_convex_decomposition(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
border_radius: Real
) -> Self
pub fn round_convex_decomposition( vertices: &[Point<Real>], indices: &[[u32; 3]], border_radius: Real ) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.
sourcepub fn convex_decomposition_with_params(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> Self
pub fn convex_decomposition_with_params( vertices: &[Point<Real>], indices: &[[u32; 3]], params: &VHACDParameters ) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.
sourcepub fn round_convex_decomposition_with_params(
vertices: &[Point<Real>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: Real
) -> Self
pub fn round_convex_decomposition_with_params( vertices: &[Point<Real>], indices: &[[u32; 3]], params: &VHACDParameters, border_radius: Real ) -> Self
Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.
sourcepub fn convex_hull(points: &[Point<Real>]) -> Option<Self>
pub fn convex_hull(points: &[Point<Real>]) -> Option<Self>
Creates a new shared shape that is the convex-hull of the given points.
sourcepub fn convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<Self>
pub fn convex_mesh( points: Vec<Point<Real>>, indices: &[[u32; 3]] ) -> Option<Self>
Creates a new shared shape that is a convex polyhedron formed by the given set of points assumed to form a convex mesh (no convex-hull will be automatically computed).
sourcepub fn round_convex_hull(
points: &[Point<Real>],
border_radius: Real
) -> Option<Self>
pub fn round_convex_hull( points: &[Point<Real>], border_radius: Real ) -> Option<Self>
Creates a new shared shape with rounded corners that is the
convex-hull of the given points, dilated by border_radius
.
sourcepub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]],
border_radius: Real
) -> Option<Self>
pub fn round_convex_mesh( points: Vec<Point<Real>>, indices: &[[u32; 3]], border_radius: Real ) -> Option<Self>
Creates a new shared shape with round corners that is a convex polyhedron formed by the given set of points assumed to form a convex mesh (no convex-hull will be automatically computed).
sourcepub fn heightfield(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
pub fn heightfield(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
Initializes a heightfield shape on the x-z plane defined by its set of height and a scale factor along each coordinate axis.
sourcepub fn heightfield_with_flags(
heights: DMatrix<Real>,
scale: Vector<Real>,
flags: HeightFieldFlags
) -> Self
pub fn heightfield_with_flags( heights: DMatrix<Real>, scale: Vector<Real>, flags: HeightFieldFlags ) -> Self
Initializes a heightfield shape on the x-z plane defined by its set of height, a scale
factor along each coordinate axis, and HeightFieldFlags
.
Methods from Deref<Target = dyn Shape>§
sourcepub fn is<__T: Shape>(&self) -> bool
pub fn is<__T: Shape>(&self) -> bool
Returns true if the trait object wraps an object of type __T
.
sourcepub fn downcast_rc<__T: Shape>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>
pub fn downcast_rc<__T: Shape>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>
Returns an Rc
-ed object from an Rc
-ed trait object if the underlying object is of
type __T
. Returns the original Rc
-ed trait if it isn’t.
sourcepub fn downcast_ref<__T: Shape>(&self) -> Option<&__T>
pub fn downcast_ref<__T: Shape>(&self) -> Option<&__T>
Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn’t.
sourcepub fn downcast_arc<__T: Shape + Any + Send + Sync>(
self: Arc<Self>
) -> Result<Arc<__T>, Arc<Self>>
pub fn downcast_arc<__T: Shape + Any + Send + Sync>( self: Arc<Self> ) -> Result<Arc<__T>, Arc<Self>>
Returns an Arc
-ed object from an Arc
-ed trait object if the underlying object is of
type __T
. Returns the original Arc
-ed trait if it isn’t.
sourcepub fn as_shape<T: Shape>(&self) -> Option<&T>
pub fn as_shape<T: Shape>(&self) -> Option<&T>
Converts this abstract shape to the given shape, if it is one.
sourcepub fn as_cuboid(&self) -> Option<&Cuboid>
pub fn as_cuboid(&self) -> Option<&Cuboid>
Converts this abstract shape to a cuboid, if it is one.
sourcepub fn as_halfspace(&self) -> Option<&HalfSpace>
pub fn as_halfspace(&self) -> Option<&HalfSpace>
Converts this abstract shape to a halfspace, if it is one.
sourcepub fn as_segment(&self) -> Option<&Segment>
pub fn as_segment(&self) -> Option<&Segment>
Converts this abstract shape to a segment, if it is one.
sourcepub fn as_capsule(&self) -> Option<&Capsule>
pub fn as_capsule(&self) -> Option<&Capsule>
Converts this abstract shape to a capsule, if it is one.
sourcepub fn as_triangle(&self) -> Option<&Triangle>
pub fn as_triangle(&self) -> Option<&Triangle>
Converts this abstract shape to a triangle, if it is one.
sourcepub fn as_compound(&self) -> Option<&Compound>
pub fn as_compound(&self) -> Option<&Compound>
Converts this abstract shape to a compound shape, if it is one.
sourcepub fn as_trimesh(&self) -> Option<&TriMesh>
pub fn as_trimesh(&self) -> Option<&TriMesh>
Converts this abstract shape to a triangle mesh, if it is one.
sourcepub fn as_polyline(&self) -> Option<&Polyline>
pub fn as_polyline(&self) -> Option<&Polyline>
Converts this abstract shape to a polyline, if it is one.
sourcepub fn as_heightfield(&self) -> Option<&HeightField>
pub fn as_heightfield(&self) -> Option<&HeightField>
Converts this abstract shape to a heightfield, if it is one.
sourcepub fn as_round_cuboid(&self) -> Option<&RoundCuboid>
pub fn as_round_cuboid(&self) -> Option<&RoundCuboid>
Converts this abstract shape to a round cuboid, if it is one.
sourcepub fn as_round_triangle(&self) -> Option<&RoundTriangle>
pub fn as_round_triangle(&self) -> Option<&RoundTriangle>
Converts this abstract shape to a round triangle, if it is one.
pub fn as_convex_polyhedron(&self) -> Option<&ConvexPolyhedron>
sourcepub fn as_cylinder(&self) -> Option<&Cylinder>
pub fn as_cylinder(&self) -> Option<&Cylinder>
Converts this abstract shape to a cylinder, if it is one.
sourcepub fn as_round_cylinder(&self) -> Option<&RoundCylinder>
pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>
Converts this abstract shape to a round cylinder, if it is one.
sourcepub fn as_round_cone(&self) -> Option<&RoundCone>
pub fn as_round_cone(&self) -> Option<&RoundCone>
Converts this abstract shape to a round cone, if it is one.
sourcepub fn as_round_convex_polyhedron(&self) -> Option<&RoundConvexPolyhedron>
pub fn as_round_convex_polyhedron(&self) -> Option<&RoundConvexPolyhedron>
Converts this abstract shape to a round convex polyhedron, if it is one.
Trait Implementations§
source§fn clone(&self) -> SharedShape
fn clone(&self) -> SharedShape
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
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