rapier.hpp File Reference

Optional C++ RAII wrappers. More...

Go to the source code of this file.

Data Structures
struct	rapier::Deleter< T, Free >
	Deleter for an owned pointer; Free must succeed at destruction time. More...

Namespaces
namespace	rapier
	Optional C++ ownership helpers.

Typedefs
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.
using	rapier::World = Owner< R3World , r3FreeWorld >
	Own a native World using its matching Free function.
using	rapier::Shape = Owner< R3SharedShape , r3FreeSharedShape >
	Own a native Shape using its matching Free function.
using	rapier::EventCollector = Owner< R3EventCollector , r3FreeEventCollector >
	Own a native EventCollector using its matching Free function.
using	rapier::Snapshot = Owner< R3Bytes , r3FreeBytes >
	Own a native Snapshot using its matching Free function.
using	rapier::SoftBodyTearEvent = Owner< R3SoftBodyTearEvent , r3FreeSoftBodyTearEvent >
	Own a native SoftBodyTearEvent using its matching Free function.
using	rapier::ShapeMesh = Owner< R3ShapeMesh , r3FreeShapeMesh >
	Own a native ShapeMesh using its matching Free function.
using	rapier::KinematicCharacterController
	Own a native KinematicCharacterController using its matching Free function.
using	rapier::PidController = Owner< R3PidController , r3FreePidController >
	Own a native PidController using its matching Free function.
using	rapier::DynamicRayCastVehicleController
	Own a native DynamicRayCastVehicleController using its matching Free function.
using	rapier::TriMeshData = Owner< R3TriMeshData , r3FreeTriMeshData >
	Own a native TriMeshData using its matching Free function.
using	rapier::UrdfRobot = Owner< R3UrdfRobot , r3FreeUrdfRobot >
	Own a native UrdfRobot using its matching Free function.
using	rapier::UrdfRobotHandles = Owner< R3UrdfRobotHandles , r3FreeUrdfRobotHandles >
	Own a native UrdfRobotHandles using its matching Free function.
using	rapier::MjcfRobot = Owner< R3MjcfRobot , r3FreeMjcfRobot >
	Own a native MjcfRobot using its matching Free function.
using	rapier::MjcfRobotHandles = Owner< R3MjcfRobotHandles , r3FreeMjcfRobotHandles >
	Own a native MjcfRobotHandles using its matching Free function.

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

Detailed Description

Optional C++ RAII wrappers.