Struct parry2d::shape::Segment

#[repr(C)]pub struct Segment {
    pub a: Point<Real>,
    pub b: Point<Real>,
}

A segment shape.

Fields

a: Point<Real>

The segment first point.

b: Point<Real>

The segment second point.

Implementations

impl Segment

pub fn aabb(&self, pos: &Isometry<Real>) -> AABB

Computes the world-space AABB of this segment, transformed by pos.

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this segment.

impl Segment

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

Computes the world-space bounding sphere of this segment, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this segment.

impl Segment

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

Creates a new segment from two points.

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

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

impl Segment

pub fn scaled_direction(&self) -> Vector<Real>

The direction of this segment scaled by its length.

Points from self.a toward self.b.

pub fn length(&self) -> Real

The length of this segment.

pub fn swap(&mut self)

Swaps the two vertices of this segment.

pub fn direction(&self) -> Option<Unit<Vector<Real>>>

The unit direction of this segment.

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

pub fn scaled_normal(&self) -> Vector<Real>

In 2D, the not-normalized counterclockwise normal of this segment.

pub fn normal(&self) -> Option<Unit<Vector<Real>>>

In 2D, the normalized counterclockwise normal of this segment.

pub fn transformed(&self, m: &Isometry<Real>) -> Self

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

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

Computes the point at the given location.

Trait Implementations

impl Clone for Segment

fn clone(&self) -> Segment

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Segment

impl Debug for Segment

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

Formats the value using the given formatter.

impl From<[Point<f32, U2>; 2]> for Segment

fn from(arr: [Point<Real>; 2]) -> Self

Performs the conversion.

impl From<Segment> for PolygonalFeature

fn from(seg: Segment) -> Self

Performs the conversion.

impl PartialEq<Segment> for Segment

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

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

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

This method tests for !=.

impl PointQuery for Segment

fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature(
    &self,
    pt: &Point<Real>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> Real

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

fn project_point_and_get_feature(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>
) -> (PointProjection, FeatureId)

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

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

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

impl PointQueryWithLocation for Segment

type Location = SegmentPointLocation

Additional shape-specific projection information

fn project_local_point_and_get_location(
    &self,
    pt: &Point<Real>,
    _: bool
) -> (PointProjection, Self::Location)

Projects a point on self.

fn project_point_and_get_location(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl PolygonalFeatureMap for Segment

fn local_support_feature(
    &self,
    _: &Unit<Vector<Real>>,
    out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

impl RayCast for Segment

fn cast_local_ray_and_get_normal(
    &self,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<RayIntersection>

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

fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>

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

fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray(
    &self,
    m: &Isometry<Real>,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<Real>

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

fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<Real>,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<RayIntersection>

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

fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Segment

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

Computes the AABB of this shape with the given position.

fn mass_properties(&self, _density: Real) -> MassProperties

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

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

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

Convents this shape into its support mapping, if it has one.

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

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

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<Real>
) -> Option<Unit<Vector<Real>>>

The shape’s normal at the given point located on a specific feature.

impl StructuralPartialEq for Segment

impl SupportMap for Segment

fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

fn support_point(
    &self,
    transform: &Isometry<Real>,
    dir: &Vector<Real>
) -> Point<Real>

fn support_point_toward(
    &self,
    transform: &Isometry<Real>,
    dir: &Unit<Vector<Real>>
) -> Point<Real>

Same as self.support_point except that dir is normalized.