Struct rapier3d::geometry::HalfSpace

impl HalfSpace

pub fn aabb(&self, _pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>) -> 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> ) -> 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<3>, Const<1>, ArrayStorage<f32, 3, 1>>> ) -> HalfSpace

Builds a new halfspace from its center and its normal.

pub fn scaled( self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>> ) -> Option<HalfSpace>

Computes a scaled version of this half-space.

Returns None if self.normal scaled by scale is zero (the scaled half-space degenerates to a single point).

Trait Implementations§

impl Clone for HalfSpace

fn clone(&self) -> HalfSpace

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

impl Debug for HalfSpace

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for HalfSpace

fn deserialize<D>( deserializer: D ) -> Result<HalfSpace, <D as Deserializer<'de>>::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl PartialEq for HalfSpace

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

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

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PointQuery for HalfSpace

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

Projects a point on self. Read more

fn project_local_point_and_get_feature( &self, pt: &OPoint<f32, Const<3>> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

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

Computes the minimal distance between a point and self.

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

Tests if the given point is inside of self.

fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<3>>, solid: bool, max_dist: f32 ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more

fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, solid: bool, max_dist: f32 ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

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

Projects a point on self transformed by m.

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

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

impl RayCast for HalfSpace

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>, 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>, 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>, ray: &Ray, max_toi: f32 ) -> bool

Tests whether a ray intersects this transformed shape.

impl Serialize for HalfSpace

fn serialize<S>( &self, serializer: S ) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

impl Shape for HalfSpace

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

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

Computes the Aabb of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex? Read more

fn ccd_thickness(&self) -> f32

fn ccd_angular_thickness(&self) -> f32

fn mass_properties(&self, _: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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> ) -> 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>> ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3> ) -> 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

Auto Trait Implementations§

impl UnwindSafe for HalfSpace

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> Downcast for T
where T: Any,

fn into_any(self: Box<T>) -> Box<dyn Any>

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.

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Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.

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.

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Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.

impl<T> DowncastSync for T
where T: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

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fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Pointable for T

const ALIGN: usize = _

The alignment of pointer.

type Init = T

The type for initializers.

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

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where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

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Performs the conversion.

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Performs the conversion.

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where T: for<'de> Deserialize<'de>,