Expand description
A capsule shape defined as a round segment.
Fields
segment: Segment
The axis and endpoint of the capsule.
radius: f32
The radius of the capsule.
Implementations
sourceimpl Capsule
impl Capsule
sourcepub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this capsule, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the world-space bounding sphere of this capsule.
sourceimpl Capsule
impl Capsule
sourcepub fn new_x(half_height: f32, radius: f32) -> Capsule
pub fn new_x(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the x
axis and with the given half-height an radius.
sourcepub fn new_y(half_height: f32, radius: f32) -> Capsule
pub fn new_y(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the y
axis and with the given half-height an radius.
sourcepub fn new_z(half_height: f32, radius: f32) -> Capsule
pub fn new_z(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the z
axis and with the given half-height an radius.
sourcepub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
radius: f32
) -> Capsule
pub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
radius: f32
) -> Capsule
Creates a new capsule defined as the segment between a
and b
and with the given radius
.
sourcepub fn half_height(&self) -> f32
pub fn half_height(&self) -> f32
The half-height of this capsule.
sourcepub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
pub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
Creates a new capsule equal to self
with all its endpoints transformed by pos
.
sourcepub fn canonical_transform(
&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
pub fn canonical_transform(
&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The transformation such that t * Y
is collinear with b - a
and t * origin
equals
the capsule’s center.
sourcepub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
pub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
The rotation r
such that r * Y
is collinear with b - a
.
sourcepub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
pub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The transform t
such that t * Y
is collinear with b - a
and such that t * origin = (b + a) / 2.0
.
Trait Implementations
sourceimpl PointQuery for Capsule
impl PointQuery for Capsule
sourcefn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
sourcefn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
transformed by m
.
sourcefn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (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. Read more
sourceimpl RayCast for Capsule
impl RayCast for Capsule
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
Tests whether a ray intersects this transformed shape.
sourceimpl Shape for Capsule
impl Shape for Capsule
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
Clones this shape into a boxed trait-object.
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
Computes the AABB of this shape.
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
Computes the bounding-sphere of this shape.
sourcefn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
Gets the type tag of this shape.
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
Gets the underlying shape as an enum.
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
Convents this shape into its support mapping, if it has one.
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
The shape’s normal at the given point located on a specific feature.
sourcefn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> 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. Read more
sourceimpl SupportMap for Capsule
impl SupportMap for Capsule
fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
sourcefn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>
Same as self.local_support_point
except that dir
is normalized.
fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
impl Copy for Capsule
Auto Trait Implementations
impl RefUnwindSafe for Capsule
impl Send for Capsule
impl Sync for Capsule
impl Unpin for Capsule
impl UnwindSafe for Capsule
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more