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Structures related to geometry: colliders, shapes, etc.
Structs§
- Active
Collision Types - Controls which combinations of body types can collide with each other.
- Array2
- A column-major 2D array.
- Axis
Mask - The status of the cell of an heightfield.
- Broad
Phase Bvh - The broad-phase collision detector that quickly filters out distant object pairs.
- Bvh
- A Bounding Volume Hierarchy (BVH) for spatial queries and collision detection.
- Collider
- The collision shape attached to a rigid body that defines what it can collide with.
- Collider
Builder - A builder for creating colliders with custom shapes and properties.
- Collider
Changes - Flags describing how the collider has been modified by the user.
- Collider
Flags - A set of flags for controlling collision/intersection filtering, modification, and events.
- Collider
Handle - The unique identifier of a collider added to a collider set.
- Collider
Material - The constraints solver-related properties of this collider (friction, restitution, etc.)
- Collider
Pair - A pair of collider handles.
- Collider
Parent - Information about the rigid-body this collider is attached to.
- Collider
Position - The position of a collider.
- Collider
Set - The collection that stores all colliders (collision shapes) in your physics world.
- Collision
Event Flags - Flags providing more information regarding a collision event.
- Composite
Shape Ref - A helper struct that implements scene queries on any composite shapes.
- Compound
- A compound shape with an aabb bounding volume.
- Contact
Data - A single contact between two collider.
- Contact
Force Event - Event occurring when the sum of the magnitudes of the contact forces between two colliders exceed a threshold.
- Contact
Manifold Data - A contact manifold between two colliders.
- Contact
Pair - All contact information between two colliding colliders.
- Convex
Polygon - A 2D convex polygon.
- Group
- A bit mask identifying groups for interaction.
- Half
Space - A half-space delimited by an infinite plane.
- Interaction
Graph - A graph where nodes are collision objects and edges are contact or proximity algorithms.
- Interaction
Groups - Collision filtering system that controls which colliders can interact with each other.
- Intersection
Pair - The description of all the contacts between a pair of colliders.
- Narrow
Phase - The narrow-phase collision detector that computes precise contact points between colliders.
- Octant
Pattern - Indicates the local shape of a voxel on each octant.
- Packed
Feature Id - A memory-efficient feature ID where the type and index are packed into a single
u32. - Polygonal
Feature - A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.
- Polyline
- A polyline shape formed by connected line segments.
- Polyline
Flags - Controls how a
Polylineis loaded. - Round
Shape - A shape with rounded borders.
- Segment
Pseudo Normals - The pseudo-normals of a polyline segment, approximating the outward normal cones of its features.
- Shared
Shape - A reference-counted, shareable geometric shape.
- Solver
Contact Generic - A contact seen by the constraints solver for computing forces.
- Solver
Flags - Flags affecting the behavior of the constraints solver for a given contact manifold.
- Topo
Face - A face of a triangle-mesh’s half-edge topology.
- Topo
Half Edge - A half-edge of a triangle-mesh’s half-edge topology.
- Topo
Vertex - A vertex of a triangle-mesh’s half-edge topology.
- Tracked
Contact - A single contact point between two shapes.
- TriMesh
- A triangle mesh.
- TriMesh
Connected Components - The connected-components of a triangle mesh.
- TriMesh
Flags - Controls how a
TriMeshshould be loaded. - TriMesh
Topology - The half-edge topology information of a triangle mesh.
- Triangle
Pseudo Normals - The pseudo-normals of a triangle providing approximations of its feature’s normal cones.
- Voxel
Data - Information associated to a voxel.
- Voxel
State - A description of the local neighborhood of a voxel.
- Voxels
- A shape made of axis-aligned, uniformly sized cubes (aka. voxels).
- Voxels
Chunk Ref - A reference to a chunk of voxels within a
Voxelsshape.
Enums§
- Broad
Phase Pair Event - An event emitted by the broad-phase.
- BvhBuild
Strategy - The strategy for one-time build of the BVH tree.
- BvhOptimization
Strategy - Selection of strategies to maintain through time the broad-phase BVH in shape that remains efficient for collision-detection and scene queries.
- Collider
Enabled - Enum indicating whether or not a collider is enabled.
- Collider
Mass Props - The mass-properties of a collider.
- Collider
Type - The type of collider.
- Collision
Event - Events triggered when two colliders start or stop touching.
- Feature
Id - An identifier of a geometric feature (vertex, edge, or face) of a shape.
- Interaction
Test Mode - Specifies which method should be used to test interactions.
- Mesh
Converter - Determines how meshes (generally when loaded from a file) are converted into Rapier colliders.
- Mesh
Converter Error - Error that can be generated by the
MeshConverter. - Segment
Point Location - Describes where a point is located on a segment.
- Shape
Type - Enum representing the type of a shape.
- Topology
Error - Errors that occur when computing or validating triangle mesh topology.
- TriMesh
Builder Error - Errors that occur when creating a triangle mesh.
- Triangle
Orientation - Orientation of a triangle.
- Triangle
Point Location - Description of the location of a point on a triangle.
- Typed
Shape - Enum representing the shape with its actual type
- Voxel
Type - Categorization of a voxel based on its neighbors.
Constants§
- NEW_
CONTACT_ BIT - Bit set in
SolverContactGeneric::contact_idwhen the contact did not exist during the previous timestep.
Traits§
- Bounding
Volume - Trait of bounding volumes.
- Composite
Shape - Trait implemented by shapes composed of multiple simpler shapes.
- Point
Query - Trait for shapes that support point projection and containment queries.
- Point
Query With Location - Returns shape-specific info in addition to generic projection information
- Polygonal
Feature Map - Trait implemented by convex shapes with features with polyhedral approximations.
- RayCast
- Traits of objects which can be transformed and tested for intersection with a ray.
- Shape
- Trait implemented by shapes usable by Rapier.
- Support
Map - Trait for convex shapes representable by a support mapping function.
- Typed
Composite Shape
Functions§
- is_
bouncy - Scalar variant of
is_bouncy_simd. - is_
bouncy_ simd - Should a contact be treated as bouncy? (SIMD lanes;
1.0= bouncy.) Restitution is per-manifold (ContactManifoldData::restitution);is_newis decoded from bit 31 (NEW_CONTACT_BIT) ofSolverContactGeneric::contact_id.
Type Aliases§
- Aabb
- An axis-aligned bounding box.
- Ball
- A ball shape.
- Capsule
- A capsule shape.
- Collider
Graph Index - Index of a node of the interaction graph.
- Collider
Shape - The shape of a collider.
- Contact
- A contact between two colliders.
- Contact
Id - The storage type of
SolverContactGeneric::contact_id: oneReal-sized slot per lane, so that a lane of the AoSoA struct keeps the same layout as a scalar contact. Atf32a slot is exactly theu32id; atf64the high 32 bits are unused padding. - Contact
Manifold - A contact manifold between two colliders.
- Cuboid
- A cuboid shape.
- Default
Broad Phase - The default broad-phase implementation recommended for general-purpose usage.
- Height
Field - A heightfield shape.
- Height
Field Cell Status - Indicates if a cell of a heightfield is removed or not. Set this to
falsefor a removed cell. - Modified
Colliders - A set of modified colliders
- Point
Projection - The projection of a point on a collider.
- Ray
- A ray that can be cast against colliders.
- RayIntersection
- The intersection between a ray and a collider.
- Rigid
Body Graph Index - Index of a node of the interaction graph.
- Round
Convex Polygon - A convex polygon dilated by a sphere (so it has round corners).
- Round
Cuboid - A cuboid dilated by a sphere (so it has round corners).
- Round
Triangle - A triangle dilated by a sphere (so it has round corners).
- Segment
- A segment shape.
- Shape
Cast Hit - The result of a shape-cast between two shapes.
- Simd
Solver Contact - A group of
SIMD_WIDTHsolver contacts stored in SoA fashion for SIMD optimizations. - Solver
Contact - A single solver contact.
- Solver
Contacts - The container of a manifold’s solver contacts. In 2D a manifold has at most 2 active contacts, so they are stored inline: the solver’s contact gathers read one contiguous manifold instead of chasing a heap allocation per manifold (a dependent cache miss on every SIMD lane of every constraint, every step).
- Temporary
Interaction Index - Temporary index to and edge of the interaction graph.
- Triangle
- A triangle shape.