Struct rapier3d::geometry::HalfSpace

pub struct HalfSpace {
    pub normal: Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>,
}

A half-space delimited by an infinite plane.

Fields

normal: Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>

The halfspace planar boundary outward normal.

Implementations

impl HalfSpace

pub fn aabb(&self, _pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> 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, U3, Unit<Quaternion<f32>>>
) -> 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, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> 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.

pub 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: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    pt: &Point<f32, U3>
) -> (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: &Point<f32, U3>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &Point<f32, U3>) -> bool

Tests if the given point is inside of self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> f32

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

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> (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.

pub fn contains_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> 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.

pub 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.

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

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

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

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<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 intersects_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for HalfSpace

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> 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 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.

pub fn as_support_map(&self) -> Option<&dyn SupportMap>

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

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

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

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

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U3>
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

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

impl StructuralPartialEq for HalfSpace