Struct rapier3d::geometry::Capsule

pub struct Capsule {
    pub segment: Segment<f32>,
    pub radius: f32,
}

A capsule shape defined as a round segment.

Fields

segment: Segment<f32>

The axis and endpoint of the capsule.

radius: f32

The radius of the capsule.

Implementations

impl Capsule

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

Creates a new capsule aligned with the x axis and with the given half-height an radius.

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

Creates a new capsule aligned with the y axis and with the given half-height an radius.

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

Creates a new capsule aligned with the z axis and with the given half-height an radius.

pub fn new(a: Point<f32>, b: Point<f32>, radius: f32) -> Self

Creates a new capsule defined as the segment between a and b and with the given radius.

pub fn aabb(&self, pos: &Isometry<f32>) -> AABB

The axis-aligned bounding box of this capsule.

pub fn height(&self) -> f32

The height of this capsule.

pub fn half_height(&self) -> f32

The half-height of this capsule.

pub fn center(&self) -> Point<f32>

The center of this capsule.

pub fn transform_by(&self, pos: &Isometry<f32>) -> Self

Creates a new capsule equal to self with all its endpoints transformed by pos.

pub fn rotation_wrt_y(&self) -> Rotation<f32>

The rotation r such that r * Y is collinear with b - a.

pub fn transform_wrt_y(&self) -> Isometry<f32>

The transform t such that t * Y is collinear with b - a and such that t * origin = (b + a) / 2.0.

Trait Implementations

impl Clone for Capsule

pub fn clone(&self) -> Capsule

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Capsule

impl Debug for Capsule

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

Formats the value using the given formatter.

impl PointQuery<f32> for Capsule

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

Projects a point on self transformed by m.

pub fn project_point_with_feature(
    &self,
    m: &Isometry<f32>,
    pt: &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 Capsule

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

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 Capsule

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 Capsule

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<N, U3, Unit<Quaternion<N>>>,
    dir: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Point<N, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> Point<N, U3>

Same as self.support_point except that dir is normalized.