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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.
- Compound
Face Cone - The directions one boundary face of a
Compoundpart may push along. - Compound
Flags - Controls how a
Compoundis loaded. - Compound
Pseudo Normals - The outward normal cones of one
Compoundpart. - 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
Polyhedron - A 3D 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 a 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 - 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, face, or edge of a convex shape.
- Polyline
- A polyline shape formed by connected line segments.
- Polyline
Flags - Controls how a
Polylineis loaded. - Rigid
Pair Contacts - The contact manifolds of a
ContactPair, with the solver’s bookkeeping about them. - 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.
- Soft
Contact Impulse - The impulse a contact slot reported (see
SoftPairContacts::impulses). - Soft
Edge Candidate - An edge-vs-edge contact candidate (see
SoftEdgePass): the closest points of two edges, interior to both. The contact-modification hook may editdiranddist, or disable the candidate; the soft-body solver reports the impulse it applied. - Soft
Edge Pass - The edge-vs-edge candidates of a pair, owned by (oriented from)
own. - Soft
Pair Contacts - The contacts of a pair of two soft surfaces: the candidates the narrow phase detected between them, which the soft-body solver turns into constraints, rebuilt by every update of the pair. Each slot (vertex-pass, edge, then volume-bin candidates) reports the solver’s impulse.
- Soft
Vertex Candidate - A surface element within reach of a vertex of the other surface (see
SoftVertexPass): the closest point’s barycentric weights on the element and the separation, skins deducted. The contact hook may editdiranddistor disable it; the solver reports its impulse. - Soft
Vertex Hits - The candidates of one surface vertex against the other side’s surface.
- Soft
Vertex Pass - The vertex-vs-surface pass of one side of a pair of soft surfaces: the vertices of
vertices_ofagainst the surface ofsurface(for a self pass, both are the same mesh). - Soft
Volume Patch - The volume patches of a crossed pair of closed soft surfaces (see
SoftOverlapConstraint): the bins’ own side is the surface ofown(the pair’s lower collider). - 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.
- 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 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
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.
- Volume
Bin - One volume constraint of a pair (see
SoftOverlapConstraint): the whole patch, or a cell of the multi-volume grid (Allard et al. 2010, section 5), as particle entries (particle, gradient) per side. - 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. - Pair
Contacts - The contacts of a
ContactPair, with a fixed layout: the solver addresses a pair’s manifolds through raw pointers (seeManifoldStore), so the offset of the rigid contacts must not depend on the value. - Segment
Point Location - Describes where a point is located on a segment.
- Shape
Type - Enum representing the type of a shape.
- Tetrahedron
Point Location - Logical description of the location of a point on a tetrahedron.
- 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.
- Cone
- A cone shape.
- 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.
- Cylinder
- A cylindrical shape.
- Default
Broad Phase - The default broad-phase implementation recommended for general-purpose usage.
- Height
Field - A heightfield shape.
- 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
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.
- 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 3D, composite-shape manifolds can exceed the solver’s per-constraint point cap, so they stay heap-allocated.
- SubShape
Id - The index of a sub-shape within a shape that has several.
- Temporary
Interaction Index - Temporary index to and edge of the interaction graph.
- Triangle
- A triangle shape.