Struct parry3d::shape::Ball

#[repr(C)]
pub struct Ball {
    pub radius: Real,
}

A Ball shape.

Fields

radius: Real

The radius of the ball.

Implementations

impl Ball

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

Computes the world-space Aabb of this ball transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this ball.

impl Ball

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space Aabb of this ball.

impl Ball

pub fn new(radius: Real) -> Ball

Creates a new ball with the given radius.

pub fn scaled( self, scale: &Vector<Real>, nsubdivs: u32 ) -> Option<Either<Self, ConvexPolyhedron>>

Computes a scaled version of this ball.

If the scaling factor is non-uniform, then it can’t be represented as ball. Instead, a convex polygon approximation (with nsubdivs subdivisions) is returned. Returns None if that approximation had degenerate normals (for example if the scaling factor along one axis is zero).

impl Ball

pub fn to_outline(&self, nsubdiv: u32) -> (Vec<Point3<Real>>, Vec<[u32; 2]>)

Outlines this ball’s shape using polylines.

impl Ball

pub fn to_trimesh( &self, ntheta_subdiv: u32, nphi_subdiv: u32 ) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)

Discretize the boundary of this ball as a triangle-mesh.

Trait Implementations

impl Clone for Ball

fn clone(&self) -> Ball

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Ball

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

Formats the value using the given formatter.

impl PartialEq for Ball

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

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

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.

impl PointQuery for Ball

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_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.

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.

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 RayCast for Ball

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 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 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 Ball

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

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

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 ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

fn is_convex(&self) -> bool

Is this shape known to be convex?

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

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

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.

impl SupportMap for Ball

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

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

Same as self.support_point except that dir is normalized.

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.

impl Copy for Ball

impl StructuralPartialEq for Ball