Namespace BepuPhysics.Collidables
Classes
- ConvexHullHelper
Helper methods to create and process convex hulls from point clouds.
- MeshInertiaHelper
Provides helpers for computing the inertia of objects with triangular surfaces.
Structs
- BigCompound
Compound shape containing a bunch of shapes accessible through a tree acceleration structure. Useful for compounds with lots of children.
- Box
Collision shape representing a solid cuboid.
- Capsule
Collision shape representing a sphere-expanded line segment.
- Collidable
Description of a collidable used by a body living in the broad phase and able to generate collision pairs. Collidables with a ShapeIndex that points to nothing (a default constructed TypedIndex) are not capable of colliding with anything. This can be used for a body which needs no collidable representation.
- CollidableDescription
Describes a collidable and how it should handle continuous collision detection.
- CollidableReference
Uses a bitpacked representation to refer to a body or static collidable.
- Compound
Minimalist compound shape containing a list of child shapes. Does not make use of any internal acceleration structure; should be used only with small groups of shapes.
- CompoundBuilder
Reusable convenience type for incrementally building compound shapes.
- CompoundChild
Shape and pose of a child within a compound shape.
- ContinuousDetection
Defines how a collidable handles collisions with significant velocity.
- Cylinder
Collision shape representing a cylinder.
- HullData
Raw data representing a convex hull.
- HullFace
Stores references to the points composing one of a convex hull's faces.
- Mesh
Shape designed to contain a whole bunch of triangles. Triangle collisions and ray tests are one-sided; only tests which see the triangle as wound clockwise in right handed coordinates or counterclockwise in left handed coordinates will generate contacts.
- Triangle
Collision shape representing an individual triangle. Triangle collisions and ray tests are one-sided; only tests which see the triangle as wound clockwise in right handed coordinates or counterclockwise in left handed coordinates will generate contacts.
- TypedIndex
Represents an index with an associated type packed into a single integer.
Interfaces
- ICompoundShape
Defines a compound shape type that has children of potentially different types.
- IConvexShape
Defines functions available on all convex shapes. Convex shapes have no hollowed out regions; any line passing through a convex shape will never enter and exit more than once.
- IConvexShapeBatch
Defines a shape batch containing convex objects that support simple inertia calculations.
- IHomogeneousCompoundShape<TChildShape, TChildShapeWide>
Defines a compound shape type that has children of only one type.
- IShape
Defines a type usable as a shape by collidables.
- IShapeWide<TShape>
Defines a widely vectorized bundle representation of a shape.
- ITriangleSource
Defines a type capable of providing a sequence of triangles.
Enums
- CollidableMobility
Represents how a collidable can interact and move.
- ContinuousDetectionMode
Defines how a collidable will handle collision detection in the presence of velocity.