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collider_creation_and_insertion

A collider is created by a ColliderBuilder structure that is based on the builder pattern. Then it needs to be inserted into the ColliderSet that will be processed by the physics-pipeline, collision-pipeline, or query-pipeline.

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.

use rapier2d::prelude::*;
use std::f32::consts::PI;

// The set that will contain our colliders.
let mut collider_set = ColliderSet::new();

// Builder for a ball-shaped collider.
let _ = ColliderBuilder::ball(0.5);
// Builder for a cuboid-shaped collider.
let _ = ColliderBuilder::cuboid(0.5, 0.2);
// Builder for a capsule-shaped collider. The capsule principal axis is the `x` coordinate axis.
let _ = ColliderBuilder::capsule_x(0.5, 0.2);
// Builder for a capsule-shaped collider. The capsule principal axis is the `y` coordinate axis.
let _ = ColliderBuilder::capsule_y(0.5, 0.2);
// Builder for a triangle-mesh-shaped collider.
let _ = ColliderBuilder::trimesh(vertices, indices);
// Builder for a heightfield-shaped collider.
let _ = ColliderBuilder::heightfield(heights, scale);
// Builder for a collider with the given shape.
let collider = ColliderBuilder::new(SharedShape::ball(0.5))
    // The collider translation wrt. the body it is attached to.
    // Default: the zero vector.
    .translation(vector![1.0, 2.0])
    // The collider rotation wrt. the body it is attached to.
    // Default: the identity rotation.
    .rotation(PI)
    // The collider position wrt. the body it is attached to.
    // Default: the identity isometry.
    .position(Isometry::new(vector![1.0, 2.0], PI))
    // 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
    .density(1.3)
    // The friction coefficient of this collider.
    // Default: ColliderBuilder::default_friction() == 0.5
    .friction(0.8)
    // Whether this collider is a sensor.
    // Default: false
    .sensor(true)
    // All done, actually build the collider.
    .build();

// Insert the collider into the set, without attaching it to a rigid-body.
let collider_handle = collider_set.insert(collider.clone());

let mut rigid_body_set = RigidBodySet::new();
let rigid_body_handle = rigid_body_set.insert(RigidBodyBuilder::dynamic().build());
// Or insert the collider into the set and attach it to a rigid-body.
let handle = collider_set.insert_with_parent(collider, rigid_body_handle, &mut rigid_body_set);