Trait ncollide3d::shape::CompositeShape

pub trait CompositeShape<N: RealField> {
    fn nparts(&self) -> usize;
    fn map_part_at(
        &self, 
        _: usize, 
        m: &Isometry<N>, 
        _: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
    );
    fn map_part_and_preprocessor_at(
        &self, 
        _: usize, 
        m: &Isometry<N>, 
        prediction: &ContactPrediction<N>, 
        _: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
    );
    fn aabb_at(&self, i: usize) -> AABB<N>;
    fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>;
}

Trait implemented by shapes composed of multiple simpler shapes.

A composite shape is composed of several shapes. Typically, it is a convex decomposition of a concave shape.

Required methods

fn nparts(&self) -> usize

The number of sub-shape in this composide shape.

fn map_part_at(
    &self,
    _: usize,
    m: &Isometry<N>,
    _: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn map_part_and_preprocessor_at(
    &self,
    _: usize,
    m: &Isometry<N>,
    prediction: &ContactPrediction<N>,
    _: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn aabb_at(&self, i: usize) -> AABB<N>

Gets the AABB of the shape identified by the index i.

fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>

Gets the acceleration structure of the concave shape.

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Implementors

impl<N: RealField> CompositeShape<N> for Compound<N>

fn nparts(&self) -> usize

fn map_part_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)

fn map_part_and_preprocessor_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    _prediction: &ContactPrediction<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)

fn aabb_at(&self, i: usize) -> AABB<N>

fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>

impl<N: RealField> CompositeShape<N> for Polyline<N>

fn nparts(&self) -> usize

fn map_part_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)

fn map_part_and_preprocessor_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    prediction: &ContactPrediction<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)

fn aabb_at(&self, i: usize) -> AABB<N>

fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>

impl<N: RealField> CompositeShape<N> for TriMesh<N>

fn nparts(&self) -> usize

fn map_part_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)

fn map_part_and_preprocessor_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    prediction: &ContactPrediction<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)

fn aabb_at(&self, i: usize) -> AABB<N>

fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>

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