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Structures related to geometry: colliders, shapes, etc.
Structs§
- Active
Collision Types - Flags affecting whether or not collision-detection happens between two colliders depending on the type of rigid-bodies they are attached to.
- Axis
Mask - The status of the cell of an heightfield.
- Broad
Phase Bvh - A broad-phase based on parry’s
Bvhdata structure. - Bvh
- A Bounding Volume Hierarchy designed for spatial queries and physics engine broad-phases.
- Collider
- A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
- Collider
Builder - A structure responsible for building a new collider.
- 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 - A set of colliders that can be handled by a 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 - The description of all the contacts between a pair of colliders.
- Convex
Polyhedron - A convex polyhedron without degenerate faces.
- Group
- A bit mask identifying groups for interaction.
- Half
Space - A half-space delimited by an infinite plane.
- Height
Field Cell Status - The status of the cell of an heightfield.
- Height
Field Flags - Flags controlling the behavior of some operations involving heightfields.
- Height
Field Radial Triangles - An iterator through all the triangles around the given point, after vertical projection on the heightfield.
- Interaction
Graph - A graph where nodes are collision objects and edges are contact or proximity algorithms.
- Interaction
Groups - Pairwise filtering using bit masks.
- Intersection
Pair - The description of all the contacts between a pair of colliders.
- Narrow
Phase - The narrow-phase responsible for computing precise contact information between colliders.
- Octant
Pattern - Indicates the local shape of a voxel on each octant.
- Packed
Feature Id - A feature id where the feature type is packed into the same value as the feature index.
- Polygonal
Feature - A polygonal feature representing the local polygonal approximation of a vertex, face, or edge of a convex shape.
- Polyline
- A polyline.
- Round
Shape - A shape with rounded borders.
- Shared
Shape - The shape of a collider.
- Solver
Contact - 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.
- Tetrahedron
- A tetrahedron with 4 vertices.
- 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 between two shape.
- TriMesh
- A triangle mesh.
- TriMesh
Connected Components - The connected-components of a triangle mesh.
- TriMesh
Flags - Controls how a
TriMeshshould be loaded. - TriMesh
Pseudo Normals - The set of pseudo-normals of a triangle mesh.
- 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).
Enums§
- Broad
Phase Pair Event - An event emitted by the broad-phase.
- BvhBuild
Strategy - The strategy for one-time build of the 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 occurring when two colliders start or stop colliding
- Feature
Id - An identifier of a feature of a convex polyhedron.
- 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 - Logical description of the location of a point on a triangle.
- Shape
Type - Enum representing the type of a shape.
- Tetrahedron
Point Location - Logical description of the location of a point on a triangle.
- Topology
Error - Indicated an inconsistency in the topology of a triangle mesh.
- TriMesh
Builder Error - Indicated an inconsistency while building 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.
Traits§
- Bounding
Volume - Trait of bounding volumes.
- Broad
Phase - Trait implemented by broad-phase algorithms supported by Rapier.
- Composite
Shape - Trait implemented by shapes composed of multiple simpler shapes.
- Point
Query - Trait of objects that can be tested for point inclusion and projection.
- 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 - Traits of convex shapes representable by a support mapping function.
- Typed
Composite Shape
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.
- Cone
- A cone shape.
- Contact
- A contact between two colliders.
- Contact
Manifold - A contact manifold between two colliders.
- Cuboid
- A cuboid shape.
- Cylinder
- A cylindrical shape.
- Default
Broad Phase - The default broad-phase implementation recommended for general-purpose usage.
- Height
Field - A heightfield shape.
- 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
Cone - A cone dilated by a sphere (so it has round corners).
- Round
Convex Polyhedron - A convex polyhedron dilated by a sphere (so it has round corners).
- Round
Cuboid - A cuboid dilated by a sphere (so it has round corners).
- Round
Cylinder - A cylinder 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.
- Temporary
Interaction Index - Temporary index to and edge of the interaction graph.
- Triangle
- A triangle shape.