Struct heron::rapier_plugin::rapier::ncollide::shape::Cuboid

pub struct Cuboid<N> where
    N: RealField,  {
    pub half_extents: Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>,
}

Shape of a box.

Fields

half_extents: Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>

The half-extents of the cuboid.

Implementations

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

pub fn new(
    half_extents: Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Cuboid<N>

Creates a new box from its half-extents. Half-extents are the box half-width along each axis. Each half-extent must be positive.

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

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

👎 Deprecated:

use the self.half_extents public field directly.

The half-extents of this box. Half-extents are the box half-width along each axis.

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

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

impl<N> Clone for Cuboid<N> where
    N: Clone + RealField, 

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> ConvexPolyhedron<N> for Cuboid<N> where
    N: RealField, 

pub fn vertex(&self, id: FeatureId) -> Point<N, U3>

Gets the specified vertex in the shape local-space.

pub fn edge(
    &self,
    id: FeatureId
) -> (Point<N, U3>, Point<N, U3>, FeatureId, FeatureId)

Get the specified edge's vertices (in the shape local-space) and the vertices' identifiers.

pub fn face(&self, id: FeatureId, out: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape's local-space.

pub fn support_face_toward(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    out: &mut ConvexPolygonalFeature<N>
)

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

pub fn support_feature_toward(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    angle: N,
    out: &mut ConvexPolygonalFeature<N>
)

Retrieve the feature (in world-space) which normal cone contains dir.

pub fn support_feature_id_toward(
    &self,
    local_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> FeatureId

Retrieve the identifier of the feature which normal cone contains dir.

pub fn feature_normal(
    &self,
    feature: FeatureId
) -> Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>

Returns any normal from the normal cone of the given feature.

impl<N> Copy for Cuboid<N> where
    N: Copy + RealField, 

impl<N> Debug for Cuboid<N> where
    N: Debug + RealField, 

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

Formats the value using the given formatter.

impl<N> HasBoundingVolume<N, AABB<N>> for Cuboid<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 Cuboid<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<Cuboid<N>> for Cuboid<N> where
    N: PartialEq<N> + RealField, 

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

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

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

This method tests for !=.

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

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_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_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 Shape for Cuboid<f32>

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> AABB<f32>

Computes the AABB of this shape.

pub fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

impl<N> Shape<N> for Cuboid<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 as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

pub fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    Option<&[N]>,
    dir: &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_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_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 Cuboid<N> where
    N: RealField, 

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

type DiscretizationParameter = ()

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

Builds a triangle mesh from this shape.