rapier Namespace Reference

Optional C++ ownership helpers. More...

Data Structures
struct	Deleter
	Deleter for an owned pointer; Free must succeed at destruction time. More...

Typedefs
template<class T, R3Status(*)(T *) Free>
using	Owner = std::unique_ptr<T, Deleter<T, Free>>
	Unique owner of a native pointer; never wrap a borrowed pointer.
using	World = Owner< R3World , r3FreeWorld >
	Own a native World using its matching Free function.
using	Shape = Owner< R3SharedShape , r3FreeSharedShape >
	Own a native Shape using its matching Free function.
using	EventCollector = Owner< R3EventCollector , r3FreeEventCollector >
	Own a native EventCollector using its matching Free function.
using	Snapshot = Owner< R3Bytes , r3FreeBytes >
	Own a native Snapshot using its matching Free function.
using	SoftBodyTearEvent = Owner< R3SoftBodyTearEvent , r3FreeSoftBodyTearEvent >
	Own a native SoftBodyTearEvent using its matching Free function.
using	ShapeMesh = Owner< R3ShapeMesh , r3FreeShapeMesh >
	Own a native ShapeMesh using its matching Free function.
using	KinematicCharacterController
	Own a native KinematicCharacterController using its matching Free function.
using	PidController = Owner< R3PidController , r3FreePidController >
	Own a native PidController using its matching Free function.
using	DynamicRayCastVehicleController
	Own a native DynamicRayCastVehicleController using its matching Free function.
using	TriMeshData = Owner< R3TriMeshData , r3FreeTriMeshData >
	Own a native TriMeshData using its matching Free function.
using	UrdfRobot = Owner< R3UrdfRobot , r3FreeUrdfRobot >
	Own a native UrdfRobot using its matching Free function.
using	UrdfRobotHandles = Owner< R3UrdfRobotHandles , r3FreeUrdfRobotHandles >
	Own a native UrdfRobotHandles using its matching Free function.
using	MjcfRobot = Owner< R3MjcfRobot , r3FreeMjcfRobot >
	Own a native MjcfRobot using its matching Free function.
using	MjcfRobotHandles = Owner< R3MjcfRobotHandles , r3FreeMjcfRobotHandles >
	Own a native MjcfRobotHandles using its matching Free function.

Functions
void	check (R3Status status)
	Throw std::runtime_error with LastError when status is not OK.
R3RigidBodyDesc	rigid_body (uint32_t kind=R3_DYNAMIC)
	Return a POD rigid-body description with the selected body type.
R3ColliderDesc	ball (R3Real radius)
	Return a POD ball collider description.
R3ColliderDesc	cuboid (R3Vector half_extents)
	Return a POD cuboid collider description.
R3SoftBodyDesc	soft_body ()
	Return native soft-body description defaults.
R3JointDesc	joint (uint8_t locked_axes=0)
	Return a joint description with the selected locked-axis mask.
R3QueryOptions	queryOptions ()
	Return query defaults with no callback or exclusions.
World	make_world ()
	Check the ABI and create an owned world; throw on failure.

Detailed Description

Optional C++ ownership helpers.

Typedef Documentation

DynamicRayCastVehicleController

using rapier::DynamicRayCastVehicleController

Initial value:

 
Owner< R3DynamicRayCastVehicleController ,
       r3FreeDynamicRayCastVehicleController >

Own a native DynamicRayCastVehicleController using its matching Free function.

EventCollector

using rapier::EventCollector = Owner< R3EventCollector , r3FreeEventCollector >

Own a native EventCollector using its matching Free function.

KinematicCharacterController

using rapier::KinematicCharacterController

Initial value:

 
Owner< R3KinematicCharacterController ,  r3FreeKinematicCharacterController >

Own a native KinematicCharacterController using its matching Free function.

MjcfRobot

using rapier::MjcfRobot = Owner< R3MjcfRobot , r3FreeMjcfRobot >

Own a native MjcfRobot using its matching Free function.

MjcfRobotHandles

using rapier::MjcfRobotHandles = Owner< R3MjcfRobotHandles , r3FreeMjcfRobotHandles >

Own a native MjcfRobotHandles using its matching Free function.

Owner

template<class T, R3Status(*)(T *) Free>

using rapier::Owner = std::unique_ptr<T, Deleter<T, Free>>

Unique owner of a native pointer; never wrap a borrowed pointer.

PidController

using rapier::PidController = Owner< R3PidController , r3FreePidController >

Own a native PidController using its matching Free function.

Shape

using rapier::Shape = Owner< R3SharedShape , r3FreeSharedShape >

Own a native Shape using its matching Free function.

ShapeMesh

using rapier::ShapeMesh = Owner< R3ShapeMesh , r3FreeShapeMesh >

Own a native ShapeMesh using its matching Free function.

Snapshot

using rapier::Snapshot = Owner< R3Bytes , r3FreeBytes >

Own a native Snapshot using its matching Free function.

SoftBodyTearEvent

using rapier::SoftBodyTearEvent = Owner< R3SoftBodyTearEvent , r3FreeSoftBodyTearEvent >

Own a native SoftBodyTearEvent using its matching Free function.

TriMeshData

using rapier::TriMeshData = Owner< R3TriMeshData , r3FreeTriMeshData >

Own a native TriMeshData using its matching Free function.

UrdfRobot

using rapier::UrdfRobot = Owner< R3UrdfRobot , r3FreeUrdfRobot >

Own a native UrdfRobot using its matching Free function.

UrdfRobotHandles

using rapier::UrdfRobotHandles = Owner< R3UrdfRobotHandles , r3FreeUrdfRobotHandles >

Own a native UrdfRobotHandles using its matching Free function.

World

using rapier::World = Owner< R3World , r3FreeWorld >

Own a native World using its matching Free function.

Function Documentation

ball()

R3ColliderDesc rapier::ball ( R3Real radius )

inline

Return a POD ball collider description.

check()

void rapier::check ( R3Status status )

inline

Throw std::runtime_error with LastError when status is not OK.

cuboid()

R3ColliderDesc rapier::cuboid ( R3Vector half_extents )

inline

Return a POD cuboid collider description.

joint()

R3JointDesc rapier::joint ( uint8_t locked_axes = 0 )

inline

Return a joint description with the selected locked-axis mask.

make_world()

World rapier::make_world ( )

inline

Check the ABI and create an owned world; throw on failure.

queryOptions()

R3QueryOptions rapier::queryOptions ( )

inline

Return query defaults with no callback or exclusions.

rigid_body()

R3RigidBodyDesc rapier::rigid_body ( uint32_t kind = R3_DYNAMIC )

inline

Return a POD rigid-body description with the selected body type.

soft_body()

R3SoftBodyDesc rapier::soft_body ( )

inline

Return native soft-body description defaults.