Struct heron::rapier_plugin::rapier::ncollide::shape::Capsule

pub struct Capsule<N> {
    pub half_height: N,
    pub radius: N,
}

SupportMap description of a capsule shape with its principal axis aligned with the y axis.

Fields

half_height: N

The half-height of the capsule's cylindrical part.

radius: N

The radius of the capsule.

Implementations

impl<N> Capsule<N> where
    N: RealField, 

pub fn new(half_height: N, radius: N) -> Capsule<N>

Creates a new capsule.

Arguments:

• half_height - the half length of the capsule along the y axis.
• radius - radius of the rounded part of the capsule.

pub fn half_height(&self) -> N

👎 Deprecated:

use the self.half_height public field directly.

The capsule half length along its local y axis.

pub fn height(&self) -> N

The capsule height along its local y axis.

pub fn radius(&self) -> N

👎 Deprecated:

use the self.radius public field directly.

The radius of the capsule's rounded part.

pub fn segment(&self) -> Segment<N>

The segment that, once dilated by self.radius yields this capsule.

pub fn contact_preprocessor(&self) -> impl ContactPreprocessor<N>

The contact preprocessor to be used for contact determination with this capsule.

Trait Implementations

impl<N> Clone for Capsule<N> where
    N: Clone, 

pub fn clone(&self) -> Capsule<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> Copy for Capsule<N> where
    N: Copy, 

impl<N> Debug for Capsule<N> where
    N: Debug, 

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

Formats the value using the given formatter.

impl<N> HasBoundingVolume<N, AABB<N>> for Capsule<N> where
    N: RealField, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>

The bounding volume of self transformed by m.

pub fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Capsule<N> where
    N: RealField, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>

The bounding volume of self transformed by m.

pub fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N> PartialEq<Capsule<N>> for Capsule<N> where
    N: PartialEq<N>, 

pub fn eq(&self, other: &Capsule<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &Capsule<N>) -> bool

This method tests for !=.

impl<N> PointQuery<N> for Capsule<N> where
    N: RealField, 

pub fn project_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> PointProjection<N>

Projects a point on self transformed by m.

pub fn project_point_with_feature(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>
) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

pub fn distance_to_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> N

Computes the minimal distance between a point and self transformed by m.

pub fn contains_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>
) -> bool

Tests if the given point is inside of self transformed by m.

impl<N> RayCast<N> for Capsule<N> where
    N: RealField, 

pub fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn toi_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

Computes the time of impact between this transform shape and a ray.

pub fn toi_and_normal_and_uv_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

pub fn intersects_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N
) -> bool

Tests whether a ray intersects this transformed shape.

impl<N> Shape<N> for Capsule<N> where
    N: RealField, 

pub fn aabb(&self, m: &Isometry<N, U3, Unit<Quaternion<N>>>) -> AABB<N>

The AABB of self transformed by m.

pub fn local_aabb(&self) -> AABB<N>

The AABB of self.

pub fn bounding_sphere(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

pub fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

pub fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

pub fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

pub fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

pub fn tangent_cone_contains_dir(
    &self,
    FeatureId,
    &Isometry<N, U3, Unit<Quaternion<N>>>,
    Option<&[N]>,
    &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

pub fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

pub fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

pub fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

pub fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

pub fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

pub fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

pub fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

pub fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

pub fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N> StructuralPartialEq for Capsule<N>

impl<N> SupportMap<N> for Capsule<N> where
    N: RealField, 

pub fn local_support_point(
    &self,
    dir: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Point<N, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> Point<N, U3>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Point<N, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> Point<N, U3>

Same as self.support_point except that dir is normalized.

impl<N> ToTriMesh<N> for Capsule<N> where
    N: RealField, 

type DiscretizationParameter = (u32, u32)

pub fn to_trimesh(&self, (u32, u32)) -> TriMesh<N>

Builds a triangle mesh from this shape.