collider_active_collision_types

By default, collision-detection is completely disabled between two colliders when both are attached to non-dynamic bodies. Sometimes, it can be useful to enable collision-detection between, e.g., a collider attached to a kinematic rigid-body and a collider attached to a fixed rigid-body. This can be done by modifying the collider's ActiveCollisionTypesactive collision types, a bit mask made of the R3_COLLISION_TYPES_* flags:

/* Set the active collision types when the collider is created. */
let collider = ColliderBuilder::ball(0.5)
    .active_collision_types(
        ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_FIXED,
    )
    .build();

/* Set the active collision types after the collider creation. */
let collider = &mut world.colliders[collider_handle];
collider.set_active_collision_types(
    ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_FIXED,
);
assert!(collider
    .active_collision_types()
    .contains(ActiveCollisionTypes::DYNAMIC_KINEMATIC));
assert!(collider
    .active_collision_types()
    .contains(ActiveCollisionTypes::KINEMATIC_FIXED));

/* Set the active collision types when the collider is created. */
commands
    .spawn(Collider::ball(0.5))
    .insert(ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_STATIC);

/* Set the active collision types inside of a system. */
fn modify_collider_active_collision_types(mut active_types: Query<&mut ActiveCollisionTypes>) {
    for mut active_types in active_types.iter_mut() {
        *active_types = ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_STATIC;
    }
}

/* Set the active collision types when the collider is created. */
let colliderDesc = RAPIER.ColliderDesc.ball(0.5)
    .setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT |
        RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);
let collider = world.createCollider(colliderDesc);

/* Set the active collision types after the collider creation. */
collider.setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.DEFAULT |
    RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED);

/* Set the active collision types when the collider is created. */
R2ColliderDesc collider = r2BallColliderDesc(0.5);
collider.activeCollisionTypes = R2_COLLISION_TYPES_DEFAULT | R2_COLLISION_TYPES_KINEMATIC_FIXED;

/* Set the active collision types after the collider creation. */
r2Collider_SetActiveCollisionTypes(collider_handle,
                                   R2_COLLISION_TYPES_DEFAULT | R2_COLLISION_TYPES_KINEMATIC_FIXED);
assert(r2Collider_ActiveCollisionTypes(collider_handle) & R2_COLLISION_TYPES_DYNAMIC_KINEMATIC);
assert(r2Collider_ActiveCollisionTypes(collider_handle) & R2_COLLISION_TYPES_KINEMATIC_FIXED);

# Set the active collision types when the collider is created.
collider = (
    rp.Collider.ball(0.5)
    .active_collision_types(
        rp.ActiveCollisionTypes.default_types() | rp.ActiveCollisionTypes.KINEMATIC_FIXED
    )
    .build()
)

# Set the active collision types after the collider creation.
collider = world.colliders[collider_handle]
collider.active_collision_types = (
    rp.ActiveCollisionTypes.default_types() | rp.ActiveCollisionTypes.KINEMATIC_FIXED
)
assert collider.active_collision_types.contains(rp.ActiveCollisionTypes.DYNAMIC_KINEMATIC)
assert collider.active_collision_types.contains(rp.ActiveCollisionTypes.KINEMATIC_FIXED)

info

To enable collision-detection between kinematic bodies and fixed bodies (as well as dynamic bodies), set its active collision types to:

ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_FIXED

ActiveCollisionTypes::default() | ActiveCollisionTypes::KINEMATIC_STATIC

RAPIER.ActiveCollisionTypes.DEFAULT | RAPIER.ActiveCollisionTypes.KINEMATIC_FIXED

R3_COLLISION_TYPES_DEFAULT | R3_COLLISION_TYPES_KINEMATIC_FIXED

rp.ActiveCollisionTypes.default_types() | rp.ActiveCollisionTypes.KINEMATIC_FIXED