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collider_creation_and_insertion

A collider is created by a World.createCollider method. The initial state of the collider to create is described by an instance of the ColliderDesc class.

Each collider create by the physics world is given an integer identifier. This identifier is guaranteed to the different from any identifier of colliders still existing in the physics world. However, the identifier may be equal to the identifier of an older collider that has already been removed from the physics world with World.removeCollider.

info

The following example shows several setters that can be called to customize the collider being built. The input values are just random so using this example as-is will not lead to a useful result.

// The physics world.
let world = new RAPIER.World({ x: 0.0, y: -9.81 });

// Builder for a ball-shaped collider.
let example1 = RAPIER.ColliderDesc.ball(0.5);
// Builder for a cuboid-shaped collider.
let example2 = RAPIER.ColliderDesc.cuboid(0.5, 0.2);
// Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
let example3 = RAPIER.ColliderDesc.capsule(0.5, 0.2);
// Builder for a triangle-mesh-shaped collider.
let example4 = RAPIER.ColliderDesc.trimesh(vertices, indices);
// Builder for a heightfield-shaped collider.
let example5 = RAPIER.ColliderDesc.heightfield(heights, scale);
// Builder for a collider with the given shape.
let colliderDesc = new RAPIER.ColliderDesc(new RAPIER.Ball(0.5))
    // The collider translation wrt. the body it is attached to.
    // Default: the zero vector.
    .setTranslation(1.0, 2.0)
    // The collider rotation wrt. the body it is attached to.
    // Default: the identity rotation.
    .setRotation(3.14)
    // The collider density. If non-zero the collider's mass and angular inertia will be added
    // to the inertial properties of the body it is attached to.
    // Default: 1.0
    .setDensity(1.3)
    // The friction coefficient of this collider.
    // Default: 0.5
    .setFriction(0.8)
    // Whether this collider is a sensor.
    // Default: false
    .setSensor(true);

// Create the collider, without attaching it to a rigid-body.
let handle = world.createCollider(colliderDesc);
// Or create the collider and attach it to a rigid-body.
let rigidBody = world.createRigidBody(RAPIER.RigidBodyDesc.dynamic());
let collider = world.createCollider(colliderDesc, rigidBody);