Struct rapier3d::geometry::HalfSpace

#[repr(C)]
pub struct HalfSpace {
    pub normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
}

A half-space delimited by an infinite plane.

Fields

normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>

The halfspace planar boundary outward normal.

Implementations

impl HalfSpace

pub fn aabb(&self, _pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

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

pub fn local_aabb(&self) -> AABB

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

impl HalfSpace

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

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

impl HalfSpace

pub fn new(
    normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> HalfSpace

Builds a new halfspace from its center and its normal.

Trait Implementations

impl Clone for HalfSpace

pub fn clone(&self) -> HalfSpace

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for HalfSpace

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

Formats the value using the given formatter.

impl PartialEq<HalfSpace> for HalfSpace

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

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

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

This method tests for !=.

impl PointQuery for HalfSpace

pub fn project_local_point(
    &self,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub 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.

pub fn distance_to_local_point(
    &self,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool

Tests if the given point is inside of self.

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.

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.

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.

fn contains_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &OPoint<f32, Const<3_usize>>
) -> bool

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

impl RayCast for HalfSpace

pub 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.

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.

fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

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.

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.

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.

impl Shape for HalfSpace

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub fn mass_properties(&self, 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_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

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_support_map(&self) -> Option<&dyn SupportMap>

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

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

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

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

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.

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.

impl Copy for HalfSpace

impl StructuralPartialEq for HalfSpace