Struct Collider

pub struct Collider {
    pub user_data: u128,
    /* private fields */
}

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

To build a new collider, use the ColliderBuilder structure.

Fields

user_data: u128

User-defined data associated to this collider.

Implementations

impl Collider

pub fn internal_broad_phase_proxy_index(&self) -> u32

An internal index associated to this collider by the broad-phase algorithm.

pub fn set_internal_broad_phase_proxy_index(&mut self, id: u32)

Sets the internal index associated to this collider by the broad-phase algorithm.

This must not be called, unless you are implementing your own custom broad-phase that require storing an index in the collider struct. Modifying that index outside of a custom broad-phase code will most certainly break the physics engine.

pub fn parent(&self) -> Option<RigidBodyHandle>

The rigid body this collider is attached to.

pub fn is_sensor(&self) -> bool

Is this collider a sensor?

pub fn copy_from(&mut self, other: &Collider)

Copy all the characteristics from other to self.

If you have a mutable reference to a collider collider: &mut Collider, attempting to assign it a whole new collider instance, e.g., *collider = ColliderBuilder::ball(0.5).build(), will crash due to some internal indices being overwritten. Instead, use collider.copy_from(&ColliderBuilder::ball(0.5).build()).

This method will allow you to set most characteristics of this collider from another collider instance without causing any breakage.

This method cannot be used for reparenting a collider. Therefore, the parent of the other (if any), as well as its relative position to that parent will not be copied into self.

The pose of other will only copied into self if self doesn’t have a parent (if it has a parent, its position is directly controlled by the parent rigid-body).

pub fn active_hooks(&self) -> ActiveHooks

The physics hooks enabled for this collider.

pub fn set_active_hooks(&mut self, active_hooks: ActiveHooks)

Sets the physics hooks enabled for this collider.

pub fn active_events(&self) -> ActiveEvents

The events enabled for this collider.

pub fn set_active_events(&mut self, active_events: ActiveEvents)

Sets the events enabled for this collider.

pub fn active_collision_types(&self) -> ActiveCollisionTypes

The collision types enabled for this collider.

pub fn set_active_collision_types( &mut self, active_collision_types: ActiveCollisionTypes, )

Sets the collision types enabled for this collider.

pub fn contact_skin(&self) -> f32

The contact skin of this collider.

See the documentation of ColliderBuilder::contact_skin for details.

pub fn set_contact_skin(&mut self, skin_thickness: f32)

Sets the contact skin of this collider.

See the documentation of ColliderBuilder::contact_skin for details.

pub fn friction(&self) -> f32

The friction coefficient of this collider.

pub fn set_friction(&mut self, coefficient: f32)

Sets the friction coefficient of this collider.

pub fn friction_combine_rule(&self) -> CoefficientCombineRule

The combine rule used by this collider to combine its friction coefficient with the friction coefficient of the other collider it is in contact with.

pub fn set_friction_combine_rule(&mut self, rule: CoefficientCombineRule)

Sets the combine rule used by this collider to combine its friction coefficient with the friction coefficient of the other collider it is in contact with.

pub fn restitution(&self) -> f32

The restitution coefficient of this collider.

pub fn set_restitution(&mut self, coefficient: f32)

Sets the restitution coefficient of this collider.

pub fn restitution_combine_rule(&self) -> CoefficientCombineRule

The combine rule used by this collider to combine its restitution coefficient with the restitution coefficient of the other collider it is in contact with.

pub fn set_restitution_combine_rule(&mut self, rule: CoefficientCombineRule)

Sets the combine rule used by this collider to combine its restitution coefficient with the restitution coefficient of the other collider it is in contact with.

pub fn set_contact_force_event_threshold(&mut self, threshold: f32)

Sets the total force magnitude beyond which a contact force event can be emitted.

pub fn set_sensor(&mut self, is_sensor: bool)

Sets whether or not this is a sensor collider.

pub fn is_enabled(&self) -> bool

Is this collider enabled?

pub fn set_enabled(&mut self, enabled: bool)

Sets whether or not this collider is enabled.

pub fn set_translation(&mut self, translation: Vector<f32>)

Sets the translational part of this collider’s position.

pub fn set_rotation(&mut self, rotation: Rotation<f32>)

Sets the rotational part of this collider’s position.

pub fn set_position(&mut self, position: Isometry<f32>)

Sets the position of this collider.

pub fn position(&self) -> &Isometry<f32>

The world-space position of this collider.

pub fn translation(&self) -> &Vector<f32>

The translational part of this collider’s position.

pub fn rotation(&self) -> &Rotation<f32>

The rotational part of this collider’s position.

pub fn position_wrt_parent(&self) -> Option<&Isometry<f32>>

The position of this collider with respect to the body it is attached to.

pub fn set_translation_wrt_parent(&mut self, translation: Vector<f32>)

Sets the translational part of this collider’s translation relative to its parent rigid-body.

pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<f32>)

Sets the rotational part of this collider’s rotation relative to its parent rigid-body.

pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<f32>)

Sets the position of this collider with respect to its parent rigid-body.

Does nothing if the collider is not attached to a rigid-body.

pub fn collision_groups(&self) -> InteractionGroups

The collision groups used by this collider.

pub fn set_collision_groups(&mut self, groups: InteractionGroups)

Sets the collision groups of this collider.

pub fn solver_groups(&self) -> InteractionGroups

The solver groups used by this collider.

pub fn set_solver_groups(&mut self, groups: InteractionGroups)

Sets the solver groups of this collider.

pub fn material(&self) -> &ColliderMaterial

The material (friction and restitution properties) of this collider.

pub fn volume(&self) -> f32

The volume (or surface in 2D) of this collider.

pub fn density(&self) -> f32

The density of this collider.

pub fn mass(&self) -> f32

The mass of this collider.

pub fn set_density(&mut self, density: f32)

Sets the uniform density of this collider.

This will override any previous mass-properties set by Self::set_density, Self::set_mass, Self::set_mass_properties, ColliderBuilder::density, ColliderBuilder::mass, or ColliderBuilder::mass_properties for this collider.

The mass and angular inertia of this collider will be computed automatically based on its shape.

pub fn set_mass(&mut self, mass: f32)

Sets the mass of this collider.

This will override any previous mass-properties set by Self::set_density, Self::set_mass, Self::set_mass_properties, ColliderBuilder::density, ColliderBuilder::mass, or ColliderBuilder::mass_properties for this collider.

The angular inertia of this collider will be computed automatically based on its shape and this mass value.

pub fn set_mass_properties(&mut self, mass_properties: MassProperties)

Sets the mass properties of this collider.

This will override any previous mass-properties set by Self::set_density, Self::set_mass, Self::set_mass_properties, ColliderBuilder::density, ColliderBuilder::mass, or ColliderBuilder::mass_properties for this collider.

pub fn shape(&self) -> &dyn Shape

The geometric shape of this collider.

pub fn shape_mut(&mut self) -> &mut dyn Shape

A mutable reference to the geometric shape of this collider.

If that shape is shared by multiple colliders, it will be cloned first so that self contains a unique copy of that shape that you can modify.

pub fn set_shape(&mut self, shape: SharedShape)

Sets the shape of this collider.

pub fn shared_shape(&self) -> &SharedShape

Retrieve the SharedShape. Also see the shape() function

pub fn compute_aabb(&self) -> Aabb

Compute the axis-aligned bounding box of this collider.

This AABB doesn’t take into account the collider’s contact skin. Collider::contact_skin.

pub fn compute_collision_aabb(&self, prediction: f32) -> Aabb

Compute the axis-aligned bounding box of this collider, taking into account the Collider::contact_skin and prediction distance.

pub fn compute_swept_aabb(&self, next_position: &Isometry<f32>) -> Aabb

Compute the axis-aligned bounding box of this collider moving from its current position to the given next_position

pub fn mass_properties(&self) -> MassProperties

Compute the local-space mass properties of this collider.

pub fn contact_force_event_threshold(&self) -> f32

The total force magnitude beyond which a contact force event can be emitted.

Trait Implementations

impl Clone for Collider

fn clone(&self) -> Collider

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Collider

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

Formats the value using the given formatter.

impl From<ColliderBuilder> for Collider

fn from(val: ColliderBuilder) -> Collider

Converts to this type from the input type.