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

Data Structures
struct	R3ColliderDesc
	Copyable collider construction data. More...
struct	R3ColliderHandle
	Copyable non-owning handle: world pointer plus entity index and generation. More...

Macros
#define	R3_MASS_DENSITY 0
	Mass density.
#define	R3_MASS_TOTAL 1
	Mass total.
#define	R3_MASS_PROPERTIES 2
	Mass properties.
#define	R3_COLLISION_EVENTS 1
	Enable collision-start and collision-stop events for this collider.
#define	R3_CONTACT_FORCE_EVENTS 2
	Enable contact-force events for this collider, subject to its force threshold.
#define	R3_COMBINE_AVERAGE 0
	Combine the two material coefficients by their arithmetic mean.
#define	R3_COMBINE_MIN 1
	Use the smaller of the two material coefficients.
#define	R3_COMBINE_MULTIPLY 2
	Multiply the two material coefficients.
#define	R3_COMBINE_MAX 3
	Use the larger of the two material coefficients.
#define	R3_COMBINE_CLAMPED_SUM 4
	Use the sum of the two material coefficients, clamped to [0, 1].
#define	R3_COMBINE_GEOMETRIC_MEAN 5
	Use the geometric mean (square root of the product) of the two material coefficients.
#define	R3_COLLISION_TYPES_DYNAMIC_DYNAMIC 1
	Active collision type bit: contacts between two dynamic bodies.
#define	R3_COLLISION_TYPES_DYNAMIC_KINEMATIC 12
	Active collision type bit: contacts between a dynamic and a kinematic body.
#define	R3_COLLISION_TYPES_DYNAMIC_FIXED 2
	Active collision type bit: contacts between a dynamic and a fixed body (or a collider without parent).
#define	R3_COLLISION_TYPES_KINEMATIC_KINEMATIC 52224
	Active collision type bit: contacts between two kinematic bodies.
#define	R3_COLLISION_TYPES_KINEMATIC_FIXED 8704
	Active collision type bit: contacts between a kinematic and a fixed body (or a collider without parent).
#define	R3_COLLISION_TYPES_FIXED_FIXED 32
	Active collision type bit: contacts between two fixed bodies (or colliders without parent).
#define	R3_COLLISION_TYPES_DEFAULT 15
	Default active collision types: dynamic-dynamic, dynamic-kinematic, and dynamic-fixed.
#define	R3_FILTER_CONTACT_PAIRS 1
	Invoke the contact-pair filtering hook for this collider.
#define	R3_FILTER_INTERSECTION_PAIR 2
	Invoke the sensor-intersection filtering hook for this collider.
#define	R3_MODIFY_SOLVER_CONTACTS 4
	Invoke the solver-contact modification hook for this collider.
#define	R3_GROUPS_AND 0
	Require both membership/filter intersections to be nonempty.
#define	R3_GROUPS_OR 1
	Accept either membership/filter intersection if both participants select OR; otherwise use AND.

Typedefs
typedef struct R3ColliderDesc	R3ColliderDesc
	Copyable collider construction data.
typedef struct R3ColliderHandle	R3ColliderHandle
	Copyable non-owning handle: world pointer plus entity index and generation.

Functions
struct R3ColliderHandle	r3InsertDeformableCollider (const struct R3ColliderDesc collider, const struct R3SoftMeshBindingDesc binding, struct R3RigidBodyHandle parent)
	Create a deformable collider bound to a soft-body cluster.
struct R3ColliderDesc	r3DefaultColliderDesc (void)
	Return native default collider desc.
struct R3ColliderDesc	r3BallColliderDesc (R3Real radius)
	Return a ball description with the supplied radius.
struct R3ColliderDesc	r3CuboidColliderDesc (struct R3Vector half_extents)
	Return an axis-aligned box description with the supplied half-extents.
struct R3ColliderHandle	r3InsertCollider (struct R3RigidBodyHandle parent, const struct R3ColliderDesc *desc)
	Insert a collider attached to a rigid body, using the world stored in its handle.
struct R3ColliderHandle	r3InsertColliderWithoutParent (struct R3World world, const struct R3ColliderDesc desc)
	Insert a collider without a rigid-body parent.
R3Status	r3RemoveCollider (struct R3ColliderHandle handle, R3Bool wake_up)
	Remove the collider and update its parent body mass properties.
size_t	r3ColliderCount (const struct R3World *world)
	Return the number of collider objects in the world.
size_t	r3ColliderHandles (const struct R3World world, struct R3ColliderHandle buffer, size_t capacity)
	Copy entity handles.
R3Bool	r3Collider_Contains (struct R3ColliderHandle handle)
	Test whether the live world contains this collider handle.
struct R3Pose	r3Collider_Position (struct R3ColliderHandle handle)
	Return the collider world-space pose.
struct R3Vector	r3Collider_Translation (struct R3ColliderHandle handle)
	Return the collider world-space translation.
R3Real	r3Collider_Friction (struct R3ColliderHandle handle)
	Return the collider friction coefficient.
R3Real	r3Collider_Restitution (struct R3ColliderHandle handle)
	Return the collider restitution coefficient.
R3Bool	r3Collider_IsSensor (struct R3ColliderHandle handle)
	Return whether the collider is a sensor (detects overlaps without contact forces).
struct R3RigidBodyHandle	r3Collider_Parent (struct R3ColliderHandle handle)
	Return the parent body handle, or an invalid handle with OK status for a standalone collider.
R3Status	r3Collider_SetPosition (struct R3ColliderHandle handle, struct R3Pose value)
	Set the collider world-space pose.
R3Status	r3Collider_SetTranslation (struct R3ColliderHandle handle, struct R3Vector value)
	Set the collider world-space translation.
R3Status	r3Collider_SetFriction (struct R3ColliderHandle handle, R3Real value)
	Set the collider friction coefficient.
R3Status	r3Collider_SetRestitution (struct R3ColliderHandle handle, R3Real value)
	Set the collider restitution coefficient.
R3Status	r3Collider_SetSensor (struct R3ColliderHandle handle, R3Bool value)
	Enable or disable a sensor (detects overlaps without contact forces) for the collider.
R3Status	r3Collider_SetCollisionGroups (struct R3ColliderHandle handle, struct R3InteractionGroups value)
	Set the collider collision filtering groups.
R3Status	r3Collider_SetUserData (struct R3ColliderHandle handle, struct R3UserData value)
	Set the collider application-owned 128-bit user value.
uint16_t	r3Collider_ActiveCollisionTypes (struct R3ColliderHandle handle)
	Return the collider body-type collision activation bitmask (R3_COLLISION_TYPES_* bits).
uint32_t	r3Collider_ActiveHooks (struct R3ColliderHandle handle)
	Return the collider physics-hook activation bitmask.
uint32_t	r3Collider_FrictionCombineRule (struct R3ColliderHandle handle)
	Return the collider friction combination rule (R3_COMBINE_*).
uint32_t	r3Collider_RestitutionCombineRule (struct R3ColliderHandle handle)
	Return the collider restitution combination rule (R3_COMBINE_*).
struct R3Pose	r3Collider_PositionWrtParent (struct R3ColliderHandle handle)
	Return the collider pose relative to its parent rigid body, or its world-space pose if it has no parent.
R3Status	r3Collider_SetRotation (struct R3ColliderHandle handle, struct R3Rotation value)
	Set the collider world-space rotation.
struct R3ColliderDesc	r3RoundCuboidColliderDesc (struct R3Vector half_extents, R3Real border_radius)
	Return a rounded box description; half_extents exclude the added border_radius.
struct R3ColliderDesc	r3CapsuleColliderDesc (struct R3Vector a, struct R3Vector b, R3Real radius)
	Return a capsule description with segment endpoints a/b and the supplied radius.
struct R3ColliderDesc	r3SegmentColliderDesc (struct R3Vector a, struct R3Vector b)
	Return a segment description with endpoints a and b.
struct R3ColliderDesc	r3TriangleColliderDesc (struct R3Vector a, struct R3Vector b, struct R3Vector c)
	Return a triangle description with vertices a, b, and c.
struct R3ColliderDesc	r3HalfspaceColliderDesc (struct R3Vector normal)
	Return a half-space description bounded by a plane through the origin; normal points outward.
struct R3ColliderDesc	r3CylinderColliderDesc (R3Real half_height, R3Real radius)
	Return a Y-aligned cylinder description with the supplied half-height and radius.
struct R3ColliderDesc	r3ConeColliderDesc (R3Real half_height, R3Real radius)
	Return a Y-aligned cone description with the supplied half-height and base radius.
struct R3ColliderDesc	r3RoundCylinderColliderDesc (R3Real half_height, R3Real radius, R3Real border_radius)
	Return a rounded Y-aligned cylinder description; dimensions exclude border_radius.
struct R3ColliderDesc	r3RoundConeColliderDesc (R3Real half_height, R3Real radius, R3Real border_radius)
	Return a rounded Y-aligned cone description; dimensions exclude border_radius.
struct R3ColliderDesc	r3CapsuleXColliderDesc (R3Real half_height, R3Real radius)
	Return a X-aligned capsule description; half_height is half the segment length, excluding caps.
struct R3ColliderDesc	r3CapsuleYColliderDesc (R3Real half_height, R3Real radius)
	Return a Y-aligned capsule description; half_height is half the segment length, excluding caps.
struct R3ColliderDesc	r3CapsuleZColliderDesc (R3Real half_height, R3Real radius)
	Return a Z-aligned capsule description; half_height is half the segment length, excluding caps.
struct R3SoftBodyHandle	r3Collider_SoftBody (struct R3ColliderHandle handle)
	Return the soft body owning this deformable collider (a soft-body collision mesh), or an invalid handle for any other collider.
R3Status	r3Collider_SetMassProperties (struct R3ColliderHandle handle, struct R3MassProperties properties)
	Set the collider local mass properties.
struct R3MassProperties	r3Collider_MassProperties (struct R3ColliderHandle handle)
	Return the collider local mass properties.
R3Bool	r3Collider_IsVoxels (struct R3ColliderHandle handle)
	Return whether the collider is a voxel shape.
struct R3VoxelQuery	r3Collider_VoxelAtFlatId (struct R3ColliderHandle handle, uint32_t id)
	Return voxel information at a flat index; found = 0 if absent.
R3Status	r3Collider_SetVoxel (struct R3ColliderHandle handle, struct R3VoxelKey key, R3Bool filled)
	Fill or clear the voxel at key; the collider must have a voxel shape.
R3Status	r3Collider_SetDensity (struct R3ColliderHandle handle, R3Real value)
	Set the collider mass per unit volume.
R3Status	r3Collider_SetMass (struct R3ColliderHandle handle, R3Real value)
	Set the collider mass.
R3Status	r3Collider_SetEnabled (struct R3ColliderHandle handle, R3Bool value)
	Enable or disable the collider.
R3Status	r3Collider_SetSolverGroups (struct R3ColliderHandle handle, struct R3InteractionGroups value)
	Set the collider contact-force filtering groups.
R3Status	r3Collider_SetFrictionCombineRule (struct R3ColliderHandle handle, uint32_t value)
	Set the collider friction combination rule (R3_COMBINE_*).
R3Status	r3Collider_SetRestitutionCombineRule (struct R3ColliderHandle handle, uint32_t value)
	Set the collider restitution combination rule (R3_COMBINE_*).
R3Status	r3Collider_SetContactSkin (struct R3ColliderHandle handle, R3Real value)
	Set the collider extra separation skin around the shape.
R3Status	r3Collider_SetContactForceEventThreshold (struct R3ColliderHandle handle, R3Real value)
	Set the collider force threshold for contact-force events.
R3Status	r3Collider_SetActiveEvents (struct R3ColliderHandle handle, uint32_t value)
	Set the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).
R3Status	r3Collider_SetActiveHooks (struct R3ColliderHandle handle, uint32_t value)
	Set the collider physics-hook activation bitmask.
R3Status	r3Collider_SetActiveCollisionTypes (struct R3ColliderHandle handle, uint16_t value)
	Set the collider body-type collision activation bitmask.
struct R3Rotation	r3Collider_Rotation (struct R3ColliderHandle handle)
	Return the collider world-space rotation.
struct R3InteractionGroups	r3Collider_CollisionGroups (struct R3ColliderHandle handle)
	Return the collider collision filtering groups.
struct R3InteractionGroups	r3Collider_SolverGroups (struct R3ColliderHandle handle)
	Return the collider contact-force filtering groups.
struct R3UserData	r3Collider_UserData (struct R3ColliderHandle handle)
	Return the collider application-owned 128-bit user value.
uint32_t	r3Collider_ActiveEvents (struct R3ColliderHandle handle)
	Return the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).
R3Real	r3Collider_Mass (struct R3ColliderHandle handle)
	Return the collider mass.
R3Real	r3Collider_Density (struct R3ColliderHandle handle)
	Return the collider mass per unit volume.
R3Real	r3Collider_Volume (struct R3ColliderHandle handle)
	Return the collider current volume.
R3Real	r3Collider_ContactSkin (struct R3ColliderHandle handle)
	Return the collider extra separation skin around the shape.
R3Real	r3Collider_ContactForceEventThreshold (struct R3ColliderHandle handle)
	Return the collider force threshold for contact-force events.
R3Bool	r3Collider_IsEnabled (struct R3ColliderHandle handle)
	Return whether the collider is enabled.
struct R3Aabb	r3Collider_ComputeAabb (struct R3ColliderHandle handle)
	Return the current world-space axis-aligned bounds.
R3Status	r3Collider_SetPositionWrtParent (struct R3ColliderHandle handle, struct R3Pose value)
	Set the collider pose relative to the parent rigid body.
R3Status	r3Collider_ValidateHandle (struct R3ColliderHandle 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

◆ R3_COLLISION_EVENTS

#define R3_COLLISION_EVENTS 1

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

◆ R3_COLLISION_TYPES_DEFAULT

#define R3_COLLISION_TYPES_DEFAULT 15

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

◆ R3_COLLISION_TYPES_DYNAMIC_DYNAMIC

#define R3_COLLISION_TYPES_DYNAMIC_DYNAMIC 1

Active collision type bit: contacts between two dynamic bodies.

◆ R3_COLLISION_TYPES_DYNAMIC_FIXED

#define R3_COLLISION_TYPES_DYNAMIC_FIXED 2

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

◆ R3_COLLISION_TYPES_DYNAMIC_KINEMATIC

#define R3_COLLISION_TYPES_DYNAMIC_KINEMATIC 12

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

◆ R3_COLLISION_TYPES_FIXED_FIXED

#define R3_COLLISION_TYPES_FIXED_FIXED 32

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

◆ R3_COLLISION_TYPES_KINEMATIC_FIXED

#define R3_COLLISION_TYPES_KINEMATIC_FIXED 8704

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

◆ R3_COLLISION_TYPES_KINEMATIC_KINEMATIC

#define R3_COLLISION_TYPES_KINEMATIC_KINEMATIC 52224

Active collision type bit: contacts between two kinematic bodies.

◆ R3_COMBINE_AVERAGE

#define R3_COMBINE_AVERAGE 0

Combine the two material coefficients by their arithmetic mean.

◆ R3_COMBINE_CLAMPED_SUM

#define R3_COMBINE_CLAMPED_SUM 4

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

◆ R3_COMBINE_GEOMETRIC_MEAN

#define R3_COMBINE_GEOMETRIC_MEAN 5

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

◆ R3_COMBINE_MAX

#define R3_COMBINE_MAX 3

Use the larger of the two material coefficients.

◆ R3_COMBINE_MIN

#define R3_COMBINE_MIN 1

Use the smaller of the two material coefficients.

◆ R3_COMBINE_MULTIPLY

#define R3_COMBINE_MULTIPLY 2

Multiply the two material coefficients.

◆ R3_CONTACT_FORCE_EVENTS

#define R3_CONTACT_FORCE_EVENTS 2

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

◆ R3_FILTER_CONTACT_PAIRS

#define R3_FILTER_CONTACT_PAIRS 1

Invoke the contact-pair filtering hook for this collider.

◆ R3_FILTER_INTERSECTION_PAIR

#define R3_FILTER_INTERSECTION_PAIR 2

Invoke the sensor-intersection filtering hook for this collider.

◆ R3_GROUPS_AND

#define R3_GROUPS_AND 0

Require both membership/filter intersections to be nonempty.

◆ R3_GROUPS_OR

#define R3_GROUPS_OR 1

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

◆ R3_MASS_DENSITY

#define R3_MASS_DENSITY 0

Mass density.

◆ R3_MASS_PROPERTIES

#define R3_MASS_PROPERTIES 2

Mass properties.

◆ R3_MASS_TOTAL

#define R3_MASS_TOTAL 1

Mass total.

◆ R3_MODIFY_SOLVER_CONTACTS

#define R3_MODIFY_SOLVER_CONTACTS 4

Invoke the solver-contact modification hook for this collider.

Typedef Documentation

◆ R3ColliderDesc

typedef struct R3ColliderDesc R3ColliderDesc

Copyable collider construction data.

Shape inputs are borrowed, never owned.

◆ R3ColliderHandle

typedef struct R3ColliderHandle R3ColliderHandle

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

◆ r3BallColliderDesc()

struct R3ColliderDesc r3BallColliderDesc ( R3Real radius )

Return a ball description with the supplied radius.

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

◆ r3CapsuleColliderDesc()

struct R3ColliderDesc r3CapsuleColliderDesc	(	struct R3Vector	a,
		struct R3Vector	b,
		R3Real	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.

◆ r3CapsuleXColliderDesc()

struct R3ColliderDesc r3CapsuleXColliderDesc	(	R3Real	half_height,
		R3Real	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.

◆ r3CapsuleYColliderDesc()

struct R3ColliderDesc r3CapsuleYColliderDesc	(	R3Real	half_height,
		R3Real	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.

◆ r3CapsuleZColliderDesc()

struct R3ColliderDesc r3CapsuleZColliderDesc	(	R3Real	half_height,
		R3Real	radius )

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

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

◆ r3Collider_ActiveCollisionTypes()

uint16_t r3Collider_ActiveCollisionTypes ( struct R3ColliderHandle handle )

Return the collider body-type collision activation bitmask (R3_COLLISION_TYPES_* bits).

◆ r3Collider_ActiveEvents()

uint32_t r3Collider_ActiveEvents ( struct R3ColliderHandle handle )

Return the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).

◆ r3Collider_ActiveHooks()

uint32_t r3Collider_ActiveHooks ( struct R3ColliderHandle handle )

Return the collider physics-hook activation bitmask.

◆ r3Collider_CollisionGroups()

struct R3InteractionGroups r3Collider_CollisionGroups ( struct R3ColliderHandle handle )

Return the collider collision filtering groups.

◆ r3Collider_ComputeAabb()

struct R3Aabb r3Collider_ComputeAabb ( struct R3ColliderHandle handle )

Return the current world-space axis-aligned bounds.

◆ r3Collider_ContactForceEventThreshold()

R3Real r3Collider_ContactForceEventThreshold ( struct R3ColliderHandle handle )

Return the collider force threshold for contact-force events.

◆ r3Collider_ContactSkin()

R3Real r3Collider_ContactSkin ( struct R3ColliderHandle handle )

Return the collider extra separation skin around the shape.

◆ r3Collider_Contains()

R3Bool r3Collider_Contains ( struct R3ColliderHandle handle )

Test whether the live world contains this collider handle.

A removed/stale handle returns false.

◆ r3Collider_Density()

R3Real r3Collider_Density ( struct R3ColliderHandle handle )

Return the collider mass per unit volume.

◆ r3Collider_Friction()

R3Real r3Collider_Friction ( struct R3ColliderHandle handle )

Return the collider friction coefficient.

◆ r3Collider_FrictionCombineRule()

uint32_t r3Collider_FrictionCombineRule ( struct R3ColliderHandle handle )

Return the collider friction combination rule (R3_COMBINE_*).

◆ r3Collider_IsEnabled()

R3Bool r3Collider_IsEnabled ( struct R3ColliderHandle handle )

Return whether the collider is enabled.

◆ r3Collider_IsSensor()

R3Bool r3Collider_IsSensor ( struct R3ColliderHandle handle )

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

◆ r3Collider_IsVoxels()

R3Bool r3Collider_IsVoxels ( struct R3ColliderHandle handle )

Return whether the collider is a voxel shape.

◆ r3Collider_Mass()

R3Real r3Collider_Mass ( struct R3ColliderHandle handle )

Return the collider mass.

◆ r3Collider_MassProperties()

struct R3MassProperties r3Collider_MassProperties ( struct R3ColliderHandle handle )

Return the collider local mass properties.

◆ r3Collider_Parent()

struct R3RigidBodyHandle r3Collider_Parent ( struct R3ColliderHandle handle )

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

◆ r3Collider_Position()

struct R3Pose r3Collider_Position ( struct R3ColliderHandle handle )

Return the collider world-space pose.

◆ r3Collider_PositionWrtParent()

struct R3Pose r3Collider_PositionWrtParent ( struct R3ColliderHandle handle )

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

◆ r3Collider_Restitution()

R3Real r3Collider_Restitution ( struct R3ColliderHandle handle )

Return the collider restitution coefficient.

◆ r3Collider_RestitutionCombineRule()

uint32_t r3Collider_RestitutionCombineRule ( struct R3ColliderHandle handle )

Return the collider restitution combination rule (R3_COMBINE_*).

◆ r3Collider_Rotation()

struct R3Rotation r3Collider_Rotation ( struct R3ColliderHandle handle )

Return the collider world-space rotation.

◆ r3Collider_SetActiveCollisionTypes()

R3Status r3Collider_SetActiveCollisionTypes	(	struct R3ColliderHandle	handle,
		uint16_t	value )

Set the collider body-type collision activation bitmask.

◆ r3Collider_SetActiveEvents()

R3Status r3Collider_SetActiveEvents	(	struct R3ColliderHandle	handle,
		uint32_t	value )

Set the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).

◆ r3Collider_SetActiveHooks()

R3Status r3Collider_SetActiveHooks	(	struct R3ColliderHandle	handle,
		uint32_t	value )

Set the collider physics-hook activation bitmask.

◆ r3Collider_SetCollisionGroups()

R3Status r3Collider_SetCollisionGroups	(	struct R3ColliderHandle	handle,
		struct R3InteractionGroups	value )

Set the collider collision filtering groups.

◆ r3Collider_SetContactForceEventThreshold()

R3Status r3Collider_SetContactForceEventThreshold	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider force threshold for contact-force events.

◆ r3Collider_SetContactSkin()

R3Status r3Collider_SetContactSkin	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider extra separation skin around the shape.

◆ r3Collider_SetDensity()

R3Status r3Collider_SetDensity	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider mass per unit volume.

◆ r3Collider_SetEnabled()

R3Status r3Collider_SetEnabled	(	struct R3ColliderHandle	handle,
		R3Bool	value )

Enable or disable the collider.

◆ r3Collider_SetFriction()

R3Status r3Collider_SetFriction	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider friction coefficient.

◆ r3Collider_SetFrictionCombineRule()

R3Status r3Collider_SetFrictionCombineRule	(	struct R3ColliderHandle	handle,
		uint32_t	value )

Set the collider friction combination rule (R3_COMBINE_*).

◆ r3Collider_SetMass()

R3Status r3Collider_SetMass	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider mass.

◆ r3Collider_SetMassProperties()

R3Status r3Collider_SetMassProperties	(	struct R3ColliderHandle	handle,
		struct R3MassProperties	properties )

Set the collider local mass properties.

◆ r3Collider_SetPosition()

R3Status r3Collider_SetPosition	(	struct R3ColliderHandle	handle,
		struct R3Pose	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.

◆ r3Collider_SetPositionWrtParent()

R3Status r3Collider_SetPositionWrtParent	(	struct R3ColliderHandle	handle,
		struct R3Pose	value )

Set the collider pose relative to the parent rigid body.

◆ r3Collider_SetRestitution()

R3Status r3Collider_SetRestitution	(	struct R3ColliderHandle	handle,
		R3Real	value )

Set the collider restitution coefficient.

◆ r3Collider_SetRestitutionCombineRule()

R3Status r3Collider_SetRestitutionCombineRule	(	struct R3ColliderHandle	handle,
		uint32_t	value )

Set the collider restitution combination rule (R3_COMBINE_*).

◆ r3Collider_SetRotation()

R3Status r3Collider_SetRotation	(	struct R3ColliderHandle	handle,
		struct R3Rotation	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.

◆ r3Collider_SetSensor()

R3Status r3Collider_SetSensor	(	struct R3ColliderHandle	handle,
		R3Bool	value )

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

◆ r3Collider_SetSolverGroups()

R3Status r3Collider_SetSolverGroups	(	struct R3ColliderHandle	handle,
		struct R3InteractionGroups	value )

Set the collider contact-force filtering groups.

◆ r3Collider_SetTranslation()

R3Status r3Collider_SetTranslation	(	struct R3ColliderHandle	handle,
		struct R3Vector	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.

◆ r3Collider_SetUserData()

R3Status r3Collider_SetUserData	(	struct R3ColliderHandle	handle,
		struct R3UserData	value )

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

◆ r3Collider_SetVoxel()

R3Status r3Collider_SetVoxel	(	struct R3ColliderHandle	handle,
		struct R3VoxelKey	key,
		R3Bool	filled )

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

◆ r3Collider_SoftBody()

struct R3SoftBodyHandle r3Collider_SoftBody ( struct R3ColliderHandle handle )

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

◆ r3Collider_SolverGroups()

struct R3InteractionGroups r3Collider_SolverGroups ( struct R3ColliderHandle handle )

Return the collider contact-force filtering groups.

◆ r3Collider_Translation()

struct R3Vector r3Collider_Translation ( struct R3ColliderHandle handle )

Return the collider world-space translation.

◆ r3Collider_UserData()

struct R3UserData r3Collider_UserData ( struct R3ColliderHandle handle )

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

◆ r3Collider_ValidateHandle()

R3Status r3Collider_ValidateHandle ( struct R3ColliderHandle handle )

Validate the index and generation in the live owning world.

Cannot detect a world pointer that has already been freed.

◆ r3Collider_Volume()

R3Real r3Collider_Volume ( struct R3ColliderHandle handle )

Return the collider current volume.

◆ r3Collider_VoxelAtFlatId()

struct R3VoxelQuery r3Collider_VoxelAtFlatId	(	struct R3ColliderHandle	handle,
		uint32_t	id )

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

◆ r3ColliderCount()

size_t r3ColliderCount ( const struct R3World * world )

Return the number of collider objects in the world.

◆ r3ColliderHandles()

size_t r3ColliderHandles	(	const struct R3World *	world,
		struct R3ColliderHandle *	buffer,
		size_t	capacity )

Copy entity handles.

See also: Arrays and output buffers

◆ r3ConeColliderDesc()

struct R3ColliderDesc r3ConeColliderDesc	(	R3Real	half_height,
		R3Real	radius )

Return a Y-aligned cone description with the supplied half-height and base radius.

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

◆ r3CuboidColliderDesc()

struct R3ColliderDesc r3CuboidColliderDesc ( struct R3Vector 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.

◆ r3CylinderColliderDesc()

struct R3ColliderDesc r3CylinderColliderDesc	(	R3Real	half_height,
		R3Real	radius )

Return a Y-aligned cylinder description with the supplied half-height and radius.

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

◆ r3DefaultColliderDesc()

struct R3ColliderDesc r3DefaultColliderDesc ( void )

Return native default collider desc.

This POD value owns no resources.

◆ r3HalfspaceColliderDesc()

struct R3ColliderDesc r3HalfspaceColliderDesc ( struct R3Vector 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.

◆ r3InsertCollider()

struct R3ColliderHandle r3InsertCollider	(	struct R3RigidBodyHandle	parent,
		const struct R3ColliderDesc *	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.

◆ r3InsertColliderWithoutParent()

struct R3ColliderHandle r3InsertColliderWithoutParent	(	struct R3World *	world,
		const struct R3ColliderDesc *	desc )

Insert a collider without a rigid-body parent.

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

◆ r3InsertDeformableCollider()

struct R3ColliderHandle r3InsertDeformableCollider	(	const struct R3ColliderDesc *	collider,
		const struct R3SoftMeshBindingDesc *	binding,
		struct R3RigidBodyHandle	parent )

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

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

◆ r3RemoveCollider()

R3Status r3RemoveCollider	(	struct R3ColliderHandle	handle,
		R3Bool	wake_up )

Remove the collider and update its parent body mass properties.

wake_up wakes the parent.

◆ r3RoundConeColliderDesc()

struct R3ColliderDesc r3RoundConeColliderDesc	(	R3Real	half_height,
		R3Real	radius,
		R3Real	border_radius )

Return a rounded Y-aligned cone description; dimensions exclude border_radius.

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

◆ r3RoundCuboidColliderDesc()

struct R3ColliderDesc r3RoundCuboidColliderDesc	(	struct R3Vector	half_extents,
		R3Real	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.

◆ r3RoundCylinderColliderDesc()

struct R3ColliderDesc r3RoundCylinderColliderDesc	(	R3Real	half_height,
		R3Real	radius,
		R3Real	border_radius )

Return a rounded Y-aligned cylinder description; dimensions exclude border_radius.

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

◆ r3SegmentColliderDesc()

struct R3ColliderDesc r3SegmentColliderDesc	(	struct R3Vector	a,
		struct R3Vector	b )

Return a segment description with endpoints a and b.

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

◆ r3TriangleColliderDesc()

struct R3ColliderDesc r3TriangleColliderDesc	(	struct R3Vector	a,
		struct R3Vector	b,
		struct R3Vector	c )

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

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

Data Structures

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ R3_COLLISION_EVENTS

◆ R3_COLLISION_TYPES_DEFAULT

◆ R3_COLLISION_TYPES_DYNAMIC_DYNAMIC

◆ R3_COLLISION_TYPES_DYNAMIC_FIXED

◆ R3_COLLISION_TYPES_DYNAMIC_KINEMATIC

◆ R3_COLLISION_TYPES_FIXED_FIXED

◆ R3_COLLISION_TYPES_KINEMATIC_FIXED

◆ R3_COLLISION_TYPES_KINEMATIC_KINEMATIC

◆ R3_COMBINE_AVERAGE

◆ R3_COMBINE_CLAMPED_SUM

◆ R3_COMBINE_GEOMETRIC_MEAN

◆ R3_COMBINE_MAX

◆ R3_COMBINE_MIN

◆ R3_COMBINE_MULTIPLY

◆ R3_CONTACT_FORCE_EVENTS

◆ R3_FILTER_CONTACT_PAIRS

◆ R3_FILTER_INTERSECTION_PAIR

◆ R3_GROUPS_AND

◆ R3_GROUPS_OR

◆ R3_MASS_DENSITY

◆ R3_MASS_PROPERTIES

◆ R3_MASS_TOTAL

◆ R3_MODIFY_SOLVER_CONTACTS

Typedef Documentation

◆ R3ColliderDesc

◆ R3ColliderHandle

Function Documentation

◆ r3BallColliderDesc()

◆ r3CapsuleColliderDesc()

◆ r3CapsuleXColliderDesc()

◆ r3CapsuleYColliderDesc()

◆ r3CapsuleZColliderDesc()

◆ r3Collider_ActiveCollisionTypes()

◆ r3Collider_ActiveEvents()

◆ r3Collider_ActiveHooks()

◆ r3Collider_CollisionGroups()

◆ r3Collider_ComputeAabb()

◆ r3Collider_ContactForceEventThreshold()

◆ r3Collider_ContactSkin()

◆ r3Collider_Contains()

◆ r3Collider_Density()

◆ r3Collider_Friction()

◆ r3Collider_FrictionCombineRule()

◆ r3Collider_IsEnabled()

◆ r3Collider_IsSensor()

◆ r3Collider_IsVoxels()

◆ r3Collider_Mass()

◆ r3Collider_MassProperties()

◆ r3Collider_Parent()

◆ r3Collider_Position()

◆ r3Collider_PositionWrtParent()

◆ r3Collider_Restitution()

◆ r3Collider_RestitutionCombineRule()

◆ r3Collider_Rotation()

◆ r3Collider_SetActiveCollisionTypes()

◆ r3Collider_SetActiveEvents()

◆ r3Collider_SetActiveHooks()

◆ r3Collider_SetCollisionGroups()

◆ r3Collider_SetContactForceEventThreshold()

◆ r3Collider_SetContactSkin()

◆ r3Collider_SetDensity()

◆ r3Collider_SetEnabled()

◆ r3Collider_SetFriction()

◆ r3Collider_SetFrictionCombineRule()

◆ r3Collider_SetMass()

◆ r3Collider_SetMassProperties()

◆ r3Collider_SetPosition()

◆ r3Collider_SetPositionWrtParent()

◆ r3Collider_SetRestitution()

◆ r3Collider_SetRestitutionCombineRule()

◆ r3Collider_SetRotation()

◆ r3Collider_SetSensor()

◆ r3Collider_SetSolverGroups()

◆ r3Collider_SetTranslation()