Enum Shape 

pub enum Shape {
    Box {
        half_extents: Vec3Fix,
    },
    Cylinder {
        radius: Fix128,
        half_height: Fix128,
    },
    Cone {
        radius: Fix128,
        half_height: Fix128,
    },
    Ellipsoid {
        radii: Vec3Fix,
    },
    Wedge {
        width: Fix128,
        height: Fix128,
        depth: Fix128,
    },
    Torus {
        major_radius: Fix128,
        minor_radius: Fix128,
    },
}

A solid, by its dimensions.

Dimensions are lengths and must be positive; Shape::validate says whether they are. The pose is not part of a shape: it is the body’s.

Variants

Box

A box of the given half-extents along X, Y, Z.

Fields

half_extents: Vec3Fix

Half the side length along each local axis.

Cylinder

A solid cylinder along Y.

Fields

radius: Fix128

Radius of the circular section.

half_height: Fix128

Half the length along Y.

Cone

A solid cone along Y, apex at +half_height, base at −half_height.

Fields

radius: Fix128

Radius of the base.

half_height: Fix128

Half the height, from the geometric centre to the apex or the base.

Ellipsoid

A solid ellipsoid with the given semi-axes.

Fields

radii: Vec3Fix

Semi-axes along X, Y, Z.

Wedge

A triangular prism: an isosceles triangle in the XY plane (base width at −height / 2, apex at +height / 2) extruded depth along Z.

Fields

width: Fix128

Base of the triangle, along X.

height: Fix128

Height of the triangle, along Y.

depth: Fix128

Extrusion length, along Z.

Torus

A solid torus around Y.

Fields

major_radius: Fix128

Distance from the axis to the centre of the tube.

minor_radius: Fix128

Radius of the tube.

Implementations

impl Shape

pub fn validate(&self) -> Result<(), ShapeError>

Whether every dimension is positive (and a torus has a hole).

pub fn volume(&self) -> Fix128

Volume.

Meaningful for a shape that passes Self::validate and whose size is representable; for an enormous one Fix128 wraps, which is why PhysicsWorld::add_shaped_body(crate::solver::PhysicsWorld::add_shaped_body) checks the magnitude first.

pub fn center_of_mass_offset(&self) -> Vec3Fix

Offset of the centre of mass from the geometric centre, in the shape’s local frame: zero for the shapes symmetric about their centre, and along Y for the cone (−half_height / 2) and the wedge (−height / 6).

pub fn inertia_diagonal(&self, mass: Fix128) -> Vec3Fix

Diagonal of the inertia tensor about the centre of mass, for a given mass, in the shape’s local frame.

pub fn bounding_radius(&self) -> Fix128

Radius of the smallest sphere about the centre of mass that encloses the solid.

pub fn mass_and_inertia( &self, density: Fix128, ) -> Result<(Fix128, Vec3Fix), ShapeError>

The mass of this shape at density, with the principal inertia about its centre of mass; refuses what cannot be a body.

Errors

ShapeError::NonPositiveDensity, ShapeError::DegenerateShape (from Self::validate), and ShapeError::MassNotRepresentable when the mass times the square of the longest dimension — the scale of the inertia — does not fit comfortably in Fix128, or the arithmetic came out non-positive anyway.

Trait Implementations

impl Clone for Shape

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Shape

impl Debug for Shape

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for Shape

impl PartialEq for Shape

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Shape