Struct parry3d::shape::HalfSpace

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#[repr(C)]
pub struct HalfSpace { pub normal: Unit<Vector<Real>>, }
Expand description

A half-space delimited by an infinite plane.

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§normal: Unit<Vector<Real>>

The halfspace planar boundary’s outward normal.

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impl HalfSpace

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pub fn aabb(&self, _pos: &Isometry<Real>) -> Aabb

Computes the world-space Aabb of this half-space.

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pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this half-space.

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impl HalfSpace

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

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

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this half-space.

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impl HalfSpace

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pub fn new(normal: Unit<Vector<Real>>) -> HalfSpace

Builds a new halfspace from its center and its normal.

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pub fn scaled(self, scale: &Vector<Real>) -> Option<Self>

Computes a scaled version of this half-space.

Returns None if self.normal scaled by scale is zero (the scaled half-space degenerates to a single point).

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impl Clone for HalfSpace

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fn clone(&self) -> HalfSpace

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for HalfSpace

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

Formats the value using the given formatter. Read more
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impl PartialEq for HalfSpace

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

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl PointQuery for HalfSpace

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

Projects a point on self. Read more
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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.
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.
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fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.
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fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more
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fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.
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fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.
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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.
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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.
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fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.
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impl RayCast for HalfSpace

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

Computes the time of impact, and normal between this transformed shape and a ray.
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fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.
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fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: Real) -> bool

Tests whether a ray intersects this transformed shape.
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fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.
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fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.
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fn intersects_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real ) -> bool

Tests whether a ray intersects this transformed shape.
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impl Shape for HalfSpace

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

Clones this shape into a boxed trait-object.
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fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.
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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.
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fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.
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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more
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fn ccd_thickness(&self) -> Real

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fn ccd_angular_thickness(&self) -> Real

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

Compute the mass-properties of this shape given its uniform density.
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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.
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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.
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fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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

Converts this shape to a polygonal feature-map, if it is one.
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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.
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fn compute_swept_aabb( &self, start_pos: &Isometry<Real>, end_pos: &Isometry<Real> ) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.
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impl Copy for HalfSpace

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impl StructuralPartialEq for HalfSpace

Auto Trait Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

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where T: ?Sized,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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The resulting type after obtaining ownership.
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Performs the conversion.
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