Struct rapier3d::geometry::RoundCylinder

pub struct RoundCylinder {
    pub cylinder: Cylinder,
    pub border_radius: f32,
}

A rounded cylinder.

Fields

cylinder: Cylinder

The cylinder being rounded.

border_radius: f32

The rounding radius.

Implementations

impl RoundCylinder

pub fn new(half_height: f32, radius: f32, border_radius: f32) -> Self

Create sa new cylinder where all its edges and vertices are rounded by a radius of radius.

This is done by applying a dilation of the given radius to the cylinder.

Trait Implementations

impl Clone for RoundCylinder

pub fn clone(&self) -> RoundCylinder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for RoundCylinder

impl Debug for RoundCylinder

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

Formats the value using the given formatter.

impl PointQuery<f32> for RoundCylinder

pub fn project_point(
    &self,
    m: &Isometry<f32>,
    point: &Point<f32>,
    solid: bool
) -> PointProjection<f32>

Projects a point on self transformed by m.

pub fn project_point_with_feature(
    &self,
    m: &Isometry<f32>,
    point: &Point<f32>
) -> (PointProjection<f32>, FeatureId)

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

pub fn distance_to_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> N

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

pub fn contains_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>
) -> bool

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

impl RayCast<f32> for RoundCylinder

pub fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<f32>,
    ray: &Ray<f32>,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection<f32>>

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

pub fn toi_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

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

pub fn toi_and_normal_and_uv_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

pub fn intersects_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for RoundCylinder

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

Computes the AABB of this shape.

pub fn mass_properties(&self, density: 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_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

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

impl SupportMap<f32> for RoundCylinder

pub fn local_support_point(&self, dir: &Vector<f32>) -> Point<f32>

pub fn local_support_point_toward(&self, dir: &Unit<Vector<f32>>) -> Point<f32>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32>,
    dir: &Vector<f32>
) -> Point<f32>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32>,
    dir: &Unit<Vector<f32>>
) -> Point<f32>

Same as self.support_point except that dir is normalized.