[−][src]Trait ncollide3d::shape::Shape

pub trait Shape<N: RealField>: Send + Sync + Downcast + ShapeClone<N> {
    fn aabb(&self, m: &Isometry<N>) -> AABB<N>;

    fn tangent_cone_contains_dir(
        &self, 
        _feature: FeatureId, 
        _m: &Isometry<N>, 
        _deformations: Option<&[N]>, 
        _dir: &Unit<Vector<N>>
    ) -> bool;

    fn local_aabb(&self) -> AABB<N> { ... }

    fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N> { ... }

    fn local_bounding_sphere(&self) -> BoundingSphere<N> { ... }

    fn subshape_containing_feature(&self, _i: FeatureId) -> usize { ... }

    fn as_ray_cast(&self) -> Option<&dyn RayCast<N>> { ... }

    fn as_point_query(&self) -> Option<&dyn PointQuery<N>> { ... }

    fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>> { ... }

    fn as_support_map(&self) -> Option<&dyn SupportMap<N>> { ... }

    fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>> { ... }

    fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>> { ... }

    fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>> { ... }

    fn is_convex_polyhedron(&self) -> bool { ... }

    fn is_support_map(&self) -> bool { ... }

    fn is_composite_shape(&self) -> bool { ... }

    fn is_deformable_shape(&self) -> bool { ... }
}

Trait implemented by all shapes supported by ncollide.

This allows dynamic inspection of the shape capabilities.

Required methods

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn tangent_cone_contains_dir(
    &self,
    _feature: FeatureId,
    _m: &Isometry<N>,
    _deformations: Option<&[N]>,
    _dir: &Unit<Vector<N>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

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Provided methods

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

If several subshape contains the same feature, any one is returned.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

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Methods

impl<N> dyn Shape<N> where
    N: Any + 'static,
    N: RealField, 

pub fn is<__T: Shape<N>>(&self) -> bool

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T: Shape<N>>(self: Box<Self>) -> Result<Box<__T>, Box<Self>>

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn't.

pub fn downcast_rc<__T: Shape<N>>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>

Returns an Rc-ed object from an Rc-ed trait object if the underlying object is of type __T. Returns the original Rc-ed trait if it isn't.

pub fn downcast_ref<__T: Shape<N>>(&self) -> Option<&__T>

Returns a reference to the object within the trait object if it is of type __T, or None if it isn't.

pub fn downcast_mut<__T: Shape<N>>(&mut self) -> Option<&mut __T>

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn't.

impl<N: RealField> dyn Shape<N>[src]

Trait for casting shapes to its exact represetation.

pub fn is_shape<T: Shape<N>>(&self) -> bool[src]

Tests if this shape has a specific type T.

pub fn as_shape<T: Shape<N>>(&self) -> Option<&T>[src]

Performs the cast.

Trait Implementations

impl<N: RealField> AsRef<dyn Shape<N> + 'static> for ShapeHandle<N>[src]

impl<N: RealField> HasBoundingVolume<N, AABB<N>> for dyn Shape<N>[src]

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for dyn Shape<N>[src]

impl<N: RealField> PointQuery<N> for dyn Shape<N>[src]

impl<N: RealField> RayCast<N> for dyn Shape<N>[src]

Implementors

impl<N: RealField> Shape<N> for Ball<N>[src]

impl<N: RealField> Shape<N> for Capsule<N>[src]

impl<N: RealField> Shape<N> for Compound<N>[src]

impl<N: RealField> Shape<N> for ConvexHull<N>[src]

impl<N: RealField> Shape<N> for Cuboid<N>[src]

impl<N: RealField> Shape<N> for HeightField<N>[src]

impl<N: RealField> Shape<N> for Plane<N>[src]

impl<N: RealField> Shape<N> for Polyline<N>[src]

impl<N: RealField> Shape<N> for Segment<N>[src]

impl<N: RealField> Shape<N> for TriMesh<N>[src]

impl<N: RealField> Shape<N> for Triangle<N>[src]

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