Colliders

Collider descriptions, material properties, sensor flags, and filtering. More...

Data Structures
struct	R2ColliderDesc
	Copyable collider construction data. More...
struct	R2ColliderHandle
	Copyable non-owning handle: world pointer plus entity index and generation. More...

Macros
#define	R2_MASS_DENSITY   0
	Mass density.
#define	R2_MASS_TOTAL   1
	Mass total.
#define	R2_MASS_PROPERTIES   2
	Mass properties.
#define	R2_COLLISION_EVENTS   1
	Enable collision-start and collision-stop events for this collider.
#define	R2_CONTACT_FORCE_EVENTS   2
	Enable contact-force events for this collider, subject to its force threshold.
#define	R2_COMBINE_AVERAGE   0
	Combine the two material coefficients by their arithmetic mean.
#define	R2_COMBINE_MIN   1
	Use the smaller of the two material coefficients.
#define	R2_COMBINE_MULTIPLY   2
	Multiply the two material coefficients.
#define	R2_COMBINE_MAX   3
	Use the larger of the two material coefficients.
#define	R2_COMBINE_CLAMPED_SUM   4
	Use the sum of the two material coefficients, clamped to [0, 1].
#define	R2_COMBINE_GEOMETRIC_MEAN   5
	Use the geometric mean (square root of the product) of the two material coefficients.
#define	R2_COLLISION_TYPES_DYNAMIC_DYNAMIC   1
	Active collision type bit: contacts between two dynamic bodies.
#define	R2_COLLISION_TYPES_DYNAMIC_KINEMATIC   12
	Active collision type bit: contacts between a dynamic and a kinematic body.
#define	R2_COLLISION_TYPES_DYNAMIC_FIXED   2
	Active collision type bit: contacts between a dynamic and a fixed body (or a collider without parent).
#define	R2_COLLISION_TYPES_KINEMATIC_KINEMATIC   52224
	Active collision type bit: contacts between two kinematic bodies.
#define	R2_COLLISION_TYPES_KINEMATIC_FIXED   8704
	Active collision type bit: contacts between a kinematic and a fixed body (or a collider without parent).
#define	R2_COLLISION_TYPES_FIXED_FIXED   32
	Active collision type bit: contacts between two fixed bodies (or colliders without parent).
#define	R2_COLLISION_TYPES_DEFAULT   15
	Default active collision types: dynamic-dynamic, dynamic-kinematic, and dynamic-fixed.
#define	R2_FILTER_CONTACT_PAIRS   1
	Invoke the contact-pair filtering hook for this collider.
#define	R2_FILTER_INTERSECTION_PAIR   2
	Invoke the sensor-intersection filtering hook for this collider.
#define	R2_MODIFY_SOLVER_CONTACTS   4
	Invoke the solver-contact modification hook for this collider.
#define	R2_GROUPS_AND   0
	Require both membership/filter intersections to be nonempty.
#define	R2_GROUPS_OR   1
	Accept either membership/filter intersection if both participants select OR; otherwise use AND.

Typedefs
typedef struct R2ColliderDesc	R2ColliderDesc
	Copyable collider construction data.
typedef struct R2ColliderHandle	R2ColliderHandle
	Copyable non-owning handle: world pointer plus entity index and generation.

Functions
struct R2ColliderHandle	r2InsertDeformableCollider (const struct R2ColliderDesc *collider, const struct R2SoftMeshBindingDesc *binding, struct R2RigidBodyHandle parent)
	Create a deformable collider bound to a soft-body cluster.
struct R2ColliderDesc	r2DefaultColliderDesc (void)
	Return native default collider desc.
struct R2ColliderDesc	r2BallColliderDesc (R2Real radius)
	Return a ball description with the supplied radius.
struct R2ColliderDesc	r2CuboidColliderDesc (struct R2Vector half_extents)
	Return an axis-aligned box description with the supplied half-extents.
struct R2ColliderHandle	r2InsertCollider (struct R2RigidBodyHandle parent, const struct R2ColliderDesc *desc)
	Insert a collider attached to a rigid body, using the world stored in its handle.
struct R2ColliderHandle	r2InsertColliderWithoutParent (struct R2World *world, const struct R2ColliderDesc *desc)
	Insert a collider without a rigid-body parent.
R2Status	r2RemoveCollider (struct R2ColliderHandle handle, R2Bool wake_up)
	Remove the collider and update its parent body mass properties.
size_t	r2ColliderCount (const struct R2World *world)
	Return the number of collider objects in the world.
size_t	r2ColliderHandles (const struct R2World *world, struct R2ColliderHandle *buffer, size_t capacity)
	Copy entity handles.
R2Bool	r2Collider_Contains (struct R2ColliderHandle handle)
	Test whether the live world contains this collider handle.
struct R2Pose	r2Collider_Position (struct R2ColliderHandle handle)
	Return the collider world-space pose.
struct R2Vector	r2Collider_Translation (struct R2ColliderHandle handle)
	Return the collider world-space translation.
R2Real	r2Collider_Friction (struct R2ColliderHandle handle)
	Return the collider friction coefficient.
R2Real	r2Collider_Restitution (struct R2ColliderHandle handle)
	Return the collider restitution coefficient.
R2Bool	r2Collider_IsSensor (struct R2ColliderHandle handle)
	Return whether the collider is a sensor (detects overlaps without contact forces).
struct R2RigidBodyHandle	r2Collider_Parent (struct R2ColliderHandle handle)
	Return the parent body handle, or an invalid handle with OK status for a standalone collider.
R2Status	r2Collider_SetPosition (struct R2ColliderHandle handle, struct R2Pose value)
	Set the collider world-space pose.
R2Status	r2Collider_SetTranslation (struct R2ColliderHandle handle, struct R2Vector value)
	Set the collider world-space translation.
R2Status	r2Collider_SetFriction (struct R2ColliderHandle handle, R2Real value)
	Set the collider friction coefficient.
R2Status	r2Collider_SetRestitution (struct R2ColliderHandle handle, R2Real value)
	Set the collider restitution coefficient.
R2Status	r2Collider_SetSensor (struct R2ColliderHandle handle, R2Bool value)
	Enable or disable a sensor (detects overlaps without contact forces) for the collider.
R2Status	r2Collider_SetCollisionGroups (struct R2ColliderHandle handle, struct R2InteractionGroups value)
	Set the collider collision filtering groups.
R2Status	r2Collider_SetUserData (struct R2ColliderHandle handle, struct R2UserData value)
	Set the collider application-owned 128-bit user value.
uint16_t	r2Collider_ActiveCollisionTypes (struct R2ColliderHandle handle)
	Return the collider body-type collision activation bitmask (R2_COLLISION_TYPES_* bits).
uint32_t	r2Collider_ActiveHooks (struct R2ColliderHandle handle)
	Return the collider physics-hook activation bitmask.
uint32_t	r2Collider_FrictionCombineRule (struct R2ColliderHandle handle)
	Return the collider friction combination rule (R2_COMBINE_*).
uint32_t	r2Collider_RestitutionCombineRule (struct R2ColliderHandle handle)
	Return the collider restitution combination rule (R2_COMBINE_*).
struct R2Pose	r2Collider_PositionWrtParent (struct R2ColliderHandle handle)
	Return the collider pose relative to its parent rigid body, or its world-space pose if it has no parent.
R2Status	r2Collider_SetRotation (struct R2ColliderHandle handle, struct R2Rotation value)
	Set the collider world-space rotation.
struct R2ColliderDesc	r2RoundCuboidColliderDesc (struct R2Vector half_extents, R2Real border_radius)
	Return a rounded box description; half_extents exclude the added border_radius.
struct R2ColliderDesc	r2CapsuleColliderDesc (struct R2Vector a, struct R2Vector b, R2Real radius)
	Return a capsule description with segment endpoints a/b and the supplied radius.
struct R2ColliderDesc	r2SegmentColliderDesc (struct R2Vector a, struct R2Vector b)
	Return a segment description with endpoints a and b.
struct R2ColliderDesc	r2TriangleColliderDesc (struct R2Vector a, struct R2Vector b, struct R2Vector c)
	Return a triangle description with vertices a, b, and c.
struct R2ColliderDesc	r2HalfspaceColliderDesc (struct R2Vector normal)
	Return a half-space description bounded by a plane through the origin; normal points outward.
struct R2ColliderDesc	r2CapsuleXColliderDesc (R2Real half_height, R2Real radius)
	Return a X-aligned capsule description; half_height is half the segment length, excluding caps.
struct R2ColliderDesc	r2CapsuleYColliderDesc (R2Real half_height, R2Real radius)
	Return a Y-aligned capsule description; half_height is half the segment length, excluding caps.
struct R2SoftBodyHandle	r2Collider_SoftBody (struct R2ColliderHandle handle)
	Return the soft body owning this deformable collider (a soft-body collision mesh), or an invalid handle for any other collider.
R2Status	r2Collider_SetMassProperties (struct R2ColliderHandle handle, struct R2MassProperties properties)
	Set the collider local mass properties.
struct R2MassProperties	r2Collider_MassProperties (struct R2ColliderHandle handle)
	Return the collider local mass properties.
R2Bool	r2Collider_IsVoxels (struct R2ColliderHandle handle)
	Return whether the collider is a voxel shape.
struct R2VoxelQuery	r2Collider_VoxelAtFlatId (struct R2ColliderHandle handle, uint32_t id)
	Return voxel information at a flat index; found = 0 if absent.
R2Status	r2Collider_SetVoxel (struct R2ColliderHandle handle, struct R2VoxelKey key, R2Bool filled)
	Fill or clear the voxel at key; the collider must have a voxel shape.
R2Status	r2Collider_SetDensity (struct R2ColliderHandle handle, R2Real value)
	Set the collider mass per unit volume.
R2Status	r2Collider_SetMass (struct R2ColliderHandle handle, R2Real value)
	Set the collider mass.
R2Status	r2Collider_SetEnabled (struct R2ColliderHandle handle, R2Bool value)
	Enable or disable the collider.
R2Status	r2Collider_SetSolverGroups (struct R2ColliderHandle handle, struct R2InteractionGroups value)
	Set the collider contact-force filtering groups.
R2Status	r2Collider_SetFrictionCombineRule (struct R2ColliderHandle handle, uint32_t value)
	Set the collider friction combination rule (R2_COMBINE_*).
R2Status	r2Collider_SetRestitutionCombineRule (struct R2ColliderHandle handle, uint32_t value)
	Set the collider restitution combination rule (R2_COMBINE_*).
R2Status	r2Collider_SetContactSkin (struct R2ColliderHandle handle, R2Real value)
	Set the collider extra separation skin around the shape.
R2Status	r2Collider_SetContactForceEventThreshold (struct R2ColliderHandle handle, R2Real value)
	Set the collider force threshold for contact-force events.
R2Status	r2Collider_SetActiveEvents (struct R2ColliderHandle handle, uint32_t value)
	Set the collider event-generation bitmask (R2_COLLISION_EVENTS and R2_CONTACT_FORCE_EVENTS).
R2Status	r2Collider_SetActiveHooks (struct R2ColliderHandle handle, uint32_t value)
	Set the collider physics-hook activation bitmask.
R2Status	r2Collider_SetActiveCollisionTypes (struct R2ColliderHandle handle, uint16_t value)
	Set the collider body-type collision activation bitmask.
struct R2Rotation	r2Collider_Rotation (struct R2ColliderHandle handle)
	Return the collider world-space rotation.
struct R2InteractionGroups	r2Collider_CollisionGroups (struct R2ColliderHandle handle)
	Return the collider collision filtering groups.
struct R2InteractionGroups	r2Collider_SolverGroups (struct R2ColliderHandle handle)
	Return the collider contact-force filtering groups.
struct R2UserData	r2Collider_UserData (struct R2ColliderHandle handle)
	Return the collider application-owned 128-bit user value.
uint32_t	r2Collider_ActiveEvents (struct R2ColliderHandle handle)
	Return the collider event-generation bitmask (R2_COLLISION_EVENTS and R2_CONTACT_FORCE_EVENTS).
R2Real	r2Collider_Mass (struct R2ColliderHandle handle)
	Return the collider mass.
R2Real	r2Collider_Density (struct R2ColliderHandle handle)
	Return the collider mass per unit volume.
R2Real	r2Collider_Volume (struct R2ColliderHandle handle)
	Return the collider current volume.
R2Real	r2Collider_ContactSkin (struct R2ColliderHandle handle)
	Return the collider extra separation skin around the shape.
R2Real	r2Collider_ContactForceEventThreshold (struct R2ColliderHandle handle)
	Return the collider force threshold for contact-force events.
R2Bool	r2Collider_IsEnabled (struct R2ColliderHandle handle)
	Return whether the collider is enabled.
struct R2Aabb	r2Collider_ComputeAabb (struct R2ColliderHandle handle)
	Return the current world-space axis-aligned bounds.
R2Status	r2Collider_SetPositionWrtParent (struct R2ColliderHandle handle, struct R2Pose value)
	Set the collider pose relative to the parent rigid body.
R2Status	r2Collider_ValidateHandle (struct R2ColliderHandle handle)
	Validate the index and generation in the live owning world.

Detailed Description

Collider descriptions, material properties, sensor flags, and filtering.

A parented collider's description pose is relative to its rigid body.

Macro Definition Documentation

R2_COLLISION_EVENTS

#define R2_COLLISION_EVENTS   1

Enable collision-start and collision-stop events for this collider.

R2_COLLISION_TYPES_DEFAULT

#define R2_COLLISION_TYPES_DEFAULT   15

Default active collision types: dynamic-dynamic, dynamic-kinematic, and dynamic-fixed.

R2_COLLISION_TYPES_DYNAMIC_DYNAMIC

#define R2_COLLISION_TYPES_DYNAMIC_DYNAMIC   1

Active collision type bit: contacts between two dynamic bodies.

R2_COLLISION_TYPES_DYNAMIC_FIXED

#define R2_COLLISION_TYPES_DYNAMIC_FIXED   2

Active collision type bit: contacts between a dynamic and a fixed body (or a collider without parent).

R2_COLLISION_TYPES_DYNAMIC_KINEMATIC

#define R2_COLLISION_TYPES_DYNAMIC_KINEMATIC   12

Active collision type bit: contacts between a dynamic and a kinematic body.

R2_COLLISION_TYPES_FIXED_FIXED

#define R2_COLLISION_TYPES_FIXED_FIXED   32

Active collision type bit: contacts between two fixed bodies (or colliders without parent).

R2_COLLISION_TYPES_KINEMATIC_FIXED

#define R2_COLLISION_TYPES_KINEMATIC_FIXED   8704

Active collision type bit: contacts between a kinematic and a fixed body (or a collider without parent).

R2_COLLISION_TYPES_KINEMATIC_KINEMATIC

#define R2_COLLISION_TYPES_KINEMATIC_KINEMATIC   52224

Active collision type bit: contacts between two kinematic bodies.

R2_COMBINE_AVERAGE

#define R2_COMBINE_AVERAGE   0

Combine the two material coefficients by their arithmetic mean.

R2_COMBINE_CLAMPED_SUM

#define R2_COMBINE_CLAMPED_SUM   4

Use the sum of the two material coefficients, clamped to [0, 1].

R2_COMBINE_GEOMETRIC_MEAN

#define R2_COMBINE_GEOMETRIC_MEAN   5

Use the geometric mean (square root of the product) of the two material coefficients.

R2_COMBINE_MAX

#define R2_COMBINE_MAX   3

Use the larger of the two material coefficients.

R2_COMBINE_MIN

#define R2_COMBINE_MIN   1

Use the smaller of the two material coefficients.

R2_COMBINE_MULTIPLY

#define R2_COMBINE_MULTIPLY   2

Multiply the two material coefficients.

R2_CONTACT_FORCE_EVENTS

#define R2_CONTACT_FORCE_EVENTS   2

Enable contact-force events for this collider, subject to its force threshold.

R2_FILTER_CONTACT_PAIRS

#define R2_FILTER_CONTACT_PAIRS   1

Invoke the contact-pair filtering hook for this collider.

R2_FILTER_INTERSECTION_PAIR

#define R2_FILTER_INTERSECTION_PAIR   2

Invoke the sensor-intersection filtering hook for this collider.

R2_GROUPS_AND

#define R2_GROUPS_AND   0

Require both membership/filter intersections to be nonempty.

R2_GROUPS_OR

#define R2_GROUPS_OR   1

Accept either membership/filter intersection if both participants select OR; otherwise use AND.

R2_MASS_DENSITY

#define R2_MASS_DENSITY   0

Mass density.

R2_MASS_PROPERTIES

#define R2_MASS_PROPERTIES   2

Mass properties.

R2_MASS_TOTAL

#define R2_MASS_TOTAL   1

Mass total.

R2_MODIFY_SOLVER_CONTACTS

#define R2_MODIFY_SOLVER_CONTACTS   4

Invoke the solver-contact modification hook for this collider.

Typedef Documentation

R2ColliderDesc

typedef struct R2ColliderDesc R2ColliderDesc

Copyable collider construction data.

Shape inputs are borrowed, never owned.

R2ColliderHandle

typedef struct R2ColliderHandle R2ColliderHandle

Copyable non-owning handle: world pointer plus entity index and generation.

The world must remain alive throughout every use. Copying does not retain it. UINT32_MAX/UINT32_MAX with a NULL world is invalid.

Function Documentation

r2BallColliderDesc()

struct R2ColliderDesc r2BallColliderDesc

(

R2Real

radius

)

Return a ball description with the supplied radius.

Returns a description without allocating or validating. Build/insert validates its fields.

r2CapsuleColliderDesc()

struct R2ColliderDesc r2CapsuleColliderDesc	(	struct R2Vector	a,
		struct R2Vector	b,
		R2Real	radius )

Return a capsule description with segment endpoints a/b and the supplied radius.

Returns a description without allocating or validating. Build/insert validates its fields.

r2CapsuleXColliderDesc()

struct R2ColliderDesc r2CapsuleXColliderDesc	(	R2Real	half_height,
		R2Real	radius )

Return a X-aligned capsule description; half_height is half the segment length, excluding caps.

Returns a description without allocating or validating. Build/insert validates its fields.

r2CapsuleYColliderDesc()

struct R2ColliderDesc r2CapsuleYColliderDesc	(	R2Real	half_height,
		R2Real	radius )

Return a Y-aligned capsule description; half_height is half the segment length, excluding caps.

Returns a description without allocating or validating. Build/insert validates its fields.

r2Collider_ActiveCollisionTypes()

uint16_t r2Collider_ActiveCollisionTypes

(

struct R2ColliderHandle

handle

)

Return the collider body-type collision activation bitmask (R2_COLLISION_TYPES_* bits).

r2Collider_ActiveEvents()

uint32_t r2Collider_ActiveEvents

(

struct R2ColliderHandle

handle

)

Return the collider event-generation bitmask (R2_COLLISION_EVENTS and R2_CONTACT_FORCE_EVENTS).

r2Collider_ActiveHooks()

uint32_t r2Collider_ActiveHooks

(

struct R2ColliderHandle

handle

)

Return the collider physics-hook activation bitmask.

r2Collider_CollisionGroups()

struct R2InteractionGroups r2Collider_CollisionGroups

(

struct R2ColliderHandle

handle

)

Return the collider collision filtering groups.

r2Collider_ComputeAabb()

struct R2Aabb r2Collider_ComputeAabb

(

struct R2ColliderHandle

handle

)

Return the current world-space axis-aligned bounds.

r2Collider_ContactForceEventThreshold()

R2Real r2Collider_ContactForceEventThreshold

(

struct R2ColliderHandle

handle

)

Return the collider force threshold for contact-force events.

r2Collider_ContactSkin()

R2Real r2Collider_ContactSkin

(

struct R2ColliderHandle

handle

)

Return the collider extra separation skin around the shape.

r2Collider_Contains()

R2Bool r2Collider_Contains

(

struct R2ColliderHandle

handle

)

Test whether the live world contains this collider handle.

A removed/stale handle returns false.

r2Collider_Density()

R2Real r2Collider_Density

(

struct R2ColliderHandle

handle

)

Return the collider mass per unit volume.

r2Collider_Friction()

R2Real r2Collider_Friction

(

struct R2ColliderHandle

handle

)

Return the collider friction coefficient.

r2Collider_FrictionCombineRule()

uint32_t r2Collider_FrictionCombineRule

(

struct R2ColliderHandle

handle

)

Return the collider friction combination rule (R2_COMBINE_*).

r2Collider_IsEnabled()

R2Bool r2Collider_IsEnabled

(

struct R2ColliderHandle

handle

)

Return whether the collider is enabled.

r2Collider_IsSensor()

R2Bool r2Collider_IsSensor

(

struct R2ColliderHandle

handle

)

Return whether the collider is a sensor (detects overlaps without contact forces).

r2Collider_IsVoxels()

R2Bool r2Collider_IsVoxels

(

struct R2ColliderHandle

handle

)

Return whether the collider is a voxel shape.

r2Collider_Mass()

R2Real r2Collider_Mass

(

struct R2ColliderHandle

handle

)

Return the collider mass.

r2Collider_MassProperties()

struct R2MassProperties r2Collider_MassProperties

(

struct R2ColliderHandle

handle

)

Return the collider local mass properties.

r2Collider_Parent()

struct R2RigidBodyHandle r2Collider_Parent

(

struct R2ColliderHandle

handle

)

Return the parent body handle, or an invalid handle with OK status for a standalone collider.

r2Collider_Position()

struct R2Pose r2Collider_Position

(

struct R2ColliderHandle

handle

)

Return the collider world-space pose.

r2Collider_PositionWrtParent()

struct R2Pose r2Collider_PositionWrtParent

(

struct R2ColliderHandle

handle

)

Return the collider pose relative to its parent rigid body, or its world-space pose if it has no parent.

r2Collider_Restitution()

R2Real r2Collider_Restitution

(

struct R2ColliderHandle

handle

)

Return the collider restitution coefficient.

r2Collider_RestitutionCombineRule()

uint32_t r2Collider_RestitutionCombineRule

(

struct R2ColliderHandle

handle

)

Return the collider restitution combination rule (R2_COMBINE_*).

r2Collider_Rotation()

struct R2Rotation r2Collider_Rotation

(

struct R2ColliderHandle

handle

)

Return the collider world-space rotation.

r2Collider_SetActiveCollisionTypes()

R2Status r2Collider_SetActiveCollisionTypes	(	struct R2ColliderHandle	handle,
		uint16_t	value )

Set the collider body-type collision activation bitmask.

r2Collider_SetActiveEvents()

R2Status r2Collider_SetActiveEvents	(	struct R2ColliderHandle	handle,
		uint32_t	value )

Set the collider event-generation bitmask (R2_COLLISION_EVENTS and R2_CONTACT_FORCE_EVENTS).

r2Collider_SetActiveHooks()

R2Status r2Collider_SetActiveHooks	(	struct R2ColliderHandle	handle,
		uint32_t	value )

Set the collider physics-hook activation bitmask.

r2Collider_SetCollisionGroups()

R2Status r2Collider_SetCollisionGroups	(	struct R2ColliderHandle	handle,
		struct R2InteractionGroups	value )

Set the collider collision filtering groups.

r2Collider_SetContactForceEventThreshold()

R2Status r2Collider_SetContactForceEventThreshold	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider force threshold for contact-force events.

r2Collider_SetContactSkin()

R2Status r2Collider_SetContactSkin	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider extra separation skin around the shape.

r2Collider_SetDensity()

R2Status r2Collider_SetDensity	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider mass per unit volume.

r2Collider_SetEnabled()

R2Status r2Collider_SetEnabled	(	struct R2ColliderHandle	handle,
		R2Bool	value )

Enable or disable the collider.

r2Collider_SetFriction()

R2Status r2Collider_SetFriction	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider friction coefficient.

r2Collider_SetFrictionCombineRule()

R2Status r2Collider_SetFrictionCombineRule	(	struct R2ColliderHandle	handle,
		uint32_t	value )

Set the collider friction combination rule (R2_COMBINE_*).

r2Collider_SetMass()

R2Status r2Collider_SetMass	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider mass.

r2Collider_SetMassProperties()

R2Status r2Collider_SetMassProperties	(	struct R2ColliderHandle	handle,
		struct R2MassProperties	properties )

Set the collider local mass properties.

r2Collider_SetPosition()

R2Status r2Collider_SetPosition	(	struct R2ColliderHandle	handle,
		struct R2Pose	value )

Set the collider world-space pose.

For a collider attached to a rigid body, prefer SetPositionWrtParent: the body pose overwrites it at the next step.

r2Collider_SetPositionWrtParent()

R2Status r2Collider_SetPositionWrtParent	(	struct R2ColliderHandle	handle,
		struct R2Pose	value )

Set the collider pose relative to the parent rigid body.

r2Collider_SetRestitution()

R2Status r2Collider_SetRestitution	(	struct R2ColliderHandle	handle,
		R2Real	value )

Set the collider restitution coefficient.

r2Collider_SetRestitutionCombineRule()

R2Status r2Collider_SetRestitutionCombineRule	(	struct R2ColliderHandle	handle,
		uint32_t	value )

Set the collider restitution combination rule (R2_COMBINE_*).

r2Collider_SetRotation()

R2Status r2Collider_SetRotation	(	struct R2ColliderHandle	handle,
		struct R2Rotation	value )

Set the collider world-space rotation.

For a collider attached to a rigid body, prefer SetPositionWrtParent: the body pose overwrites it at the next step.

r2Collider_SetSensor()

R2Status r2Collider_SetSensor	(	struct R2ColliderHandle	handle,
		R2Bool	value )

Enable or disable a sensor (detects overlaps without contact forces) for the collider.

r2Collider_SetSolverGroups()

R2Status r2Collider_SetSolverGroups	(	struct R2ColliderHandle	handle,
		struct R2InteractionGroups	value )

Set the collider contact-force filtering groups.

r2Collider_SetTranslation()

R2Status r2Collider_SetTranslation	(	struct R2ColliderHandle	handle,
		struct R2Vector	value )

Set the collider world-space translation.

For a collider attached to a rigid body, prefer SetPositionWrtParent: the body pose overwrites it at the next step.

r2Collider_SetUserData()

R2Status r2Collider_SetUserData	(	struct R2ColliderHandle	handle,
		struct R2UserData	value )

Set the collider application-owned 128-bit user value.

r2Collider_SetVoxel()

R2Status r2Collider_SetVoxel	(	struct R2ColliderHandle	handle,
		struct R2VoxelKey	key,
		R2Bool	filled )

Fill or clear the voxel at key; the collider must have a voxel shape.

r2Collider_SoftBody()

struct R2SoftBodyHandle r2Collider_SoftBody

(

struct R2ColliderHandle

handle

)

Return the soft body owning this deformable collider (a soft-body collision mesh), or an invalid handle for any other collider.

r2Collider_SolverGroups()

struct R2InteractionGroups r2Collider_SolverGroups

(

struct R2ColliderHandle

handle

)

Return the collider contact-force filtering groups.

r2Collider_Translation()

struct R2Vector r2Collider_Translation

(

struct R2ColliderHandle

handle

)

Return the collider world-space translation.

r2Collider_UserData()

struct R2UserData r2Collider_UserData

(

struct R2ColliderHandle

handle

)

Return the collider application-owned 128-bit user value.

r2Collider_ValidateHandle()

R2Status r2Collider_ValidateHandle

(

struct R2ColliderHandle

handle

)

Validate the index and generation in the live owning world.

Cannot detect a world pointer that has already been freed.

r2Collider_Volume()

R2Real r2Collider_Volume

(

struct R2ColliderHandle

handle

)

Return the collider current volume.

r2Collider_VoxelAtFlatId()

struct R2VoxelQuery r2Collider_VoxelAtFlatId	(	struct R2ColliderHandle	handle,
		uint32_t	id )

Return voxel information at a flat index; found = 0 if absent.

r2ColliderCount()

size_t r2ColliderCount

(

const struct R2World *

world

)

Return the number of collider objects in the world.

r2ColliderHandles()

size_t r2ColliderHandles	(	const struct R2World *	world,
		struct R2ColliderHandle *	buffer,
		size_t	capacity )

Copy entity handles.

See also

Arrays and output buffers

r2CuboidColliderDesc()

struct R2ColliderDesc r2CuboidColliderDesc

(

struct R2Vector

half_extents

)

Return an axis-aligned box description with the supplied half-extents.

Returns a description without allocating or validating. Build/insert validates its fields.

r2DefaultColliderDesc()

struct R2ColliderDesc r2DefaultColliderDesc

(

void

)

Return native default collider desc.

This POD value owns no resources.

r2HalfspaceColliderDesc()

struct R2ColliderDesc r2HalfspaceColliderDesc

(

struct R2Vector

normal

)

Return a half-space description bounded by a plane through the origin; normal points outward.

Returns a description without allocating or validating. Build/insert validates its fields.

r2InsertCollider()

struct R2ColliderHandle r2InsertCollider	(	struct R2RigidBodyHandle	parent,
		const struct R2ColliderDesc *	desc )

Insert a collider attached to a rigid body, using the world stored in its handle.

The parent handle is copied by value. The description is borrowed through this call. Invalid or removed parents fail without inserting a collider.

r2InsertColliderWithoutParent()

struct R2ColliderHandle r2InsertColliderWithoutParent	(	struct R2World *	world,
		const struct R2ColliderDesc *	desc )

Insert a collider without a rigid-body parent.

The world owns the collider. The description is borrowed through this call.

r2InsertDeformableCollider()

struct R2ColliderHandle r2InsertDeformableCollider	(	const struct R2ColliderDesc *	collider,
		const struct R2SoftMeshBindingDesc *	binding,
		struct R2RigidBodyHandle	parent )

Create a deformable collider bound to a soft-body cluster.

The world owns the collider; binding arrays are borrowed only during insertion.

r2RemoveCollider()

R2Status r2RemoveCollider	(	struct R2ColliderHandle	handle,
		R2Bool	wake_up )

Remove the collider and update its parent body mass properties.

wake_up wakes the parent.

r2RoundCuboidColliderDesc()

struct R2ColliderDesc r2RoundCuboidColliderDesc	(	struct R2Vector	half_extents,
		R2Real	border_radius )

Return a rounded box description; half_extents exclude the added border_radius.

Returns a description without allocating or validating. Build/insert validates its fields.

r2SegmentColliderDesc()

struct R2ColliderDesc r2SegmentColliderDesc	(	struct R2Vector	a,
		struct R2Vector	b )

Return a segment description with endpoints a and b.

Returns a description without allocating or validating. Build/insert validates its fields.

r2TriangleColliderDesc()

struct R2ColliderDesc r2TriangleColliderDesc	(	struct R2Vector	a,
		struct R2Vector	b,
		struct R2Vector	c )

Return a triangle description with vertices a, b, and c.

Returns a description without allocating or validating. Build/insert validates its fields.