Struct heron::rapier_plugin::rapier::ncollide::shape::Segment

#[repr(C)]pub struct Segment<N> where
    N: RealField,  {
    pub a: Point<N, U3>,
    pub b: Point<N, U3>,
}

A segment shape.

Fields

a: Point<N, U3>

The segment first point.

b: Point<N, U3>

The segment second point.

Implementations

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

pub fn new(a: Point<N, U3>, b: Point<N, U3>) -> Segment<N>

Creates a new segment from two points.

pub fn from_array(arr: &[Point<N, U3>; 2]) -> &Segment<N>

Creates the reference to a segment from the reference to an array of two points.

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

pub fn a(&self) -> &Point<N, U3>

👎 Deprecated:

use the self.a public field directly.

The first point of this segment.

pub fn b(&self) -> &Point<N, U3>

👎 Deprecated:

use the self.b public field directly.

The second point of this segment.

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

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

The direction of this segment scaled by its length.

Points from self.a toward self.b.

pub fn length(&self) -> N

The length of this segment.

pub fn swap(&mut self)

Swaps the two vertices of this segment.

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

The unit direction of this segment.

Points from self.a() toward self.b(). Returns None is both points are equal.

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

Returns None. Exists only for API similarity with the 2D ncollide.

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

Applies the isometry m to the vertices of this segment and returns the resulting segment.

pub fn point_at(&self, location: &SegmentPointLocation<N>) -> Point<N, U3>

Computes the point at the given location.

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 Segment<N> where
    N: Clone + RealField, 

pub fn clone(&self) -> Segment<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 Segment<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,
    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, FeatureId, &mut ConvexPolygonalFeature<N>)

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

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.

pub fn support_face_toward(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    face: &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,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    eps: N,
    face: &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.

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

impl<N> Debug for Segment<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 Segment<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 Segment<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<Segment<N>> for Segment<N> where
    N: PartialEq<N> + RealField, 

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

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

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

This method tests for !=.

impl<N> PointQuery<N> for Segment<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> PointQueryWithLocation<N> for Segment<N> where
    N: RealField, 

type Location = SegmentPointLocation<N>

Additional shape-specific projection information

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    bool
) -> (PointProjection<N>, <Segment<N> as PointQueryWithLocation<N>>::Location)

Projects a point on self transformed by m.

impl<N> RayCast<N> for Segment<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 Shape for Segment<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 Segment<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 Segment<N> where
    N: RealField, 

impl<N> SupportMap<N> for Segment<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.