Struct heron::rapier_plugin::rapier3d::parry::bounding_volume::AABB

pub struct AABB {
    pub mins: OPoint<f32, Const<3_usize>>,
    pub maxs: OPoint<f32, Const<3_usize>>,
}

An Axis Aligned Bounding Box.

Fields

mins: OPoint<f32, Const<3_usize>>

maxs: OPoint<f32, Const<3_usize>>

Implementations

impl AABB

pub const EDGES_VERTEX_IDS: [(usize, usize); 12]

The vertex indices of each edge of this AABB.

This gives, for each edge of this AABB, the indices of its vertices when taken from the self.vertices() array. Here is how the faces are numbered, assuming a right-handed coordinate system:

y 3 - 2 | 7 − 6 | ___ x | | 1 (the zero is bellow 3 and on the left of 1, hidden by the 4-5-6-7 face.) / 4 - 5 z

pub const FACES_VERTEX_IDS: [(usize, usize, usize, usize); 6]

The vertex indices of each face of this AABB.

This gives, for each face of this AABB, the indices of its vertices when taken from the self.vertices() array. Here is how the faces are numbered, assuming a right-handed coordinate system:

y 3 - 2 | 7 − 6 | ___ x | | 1 (the zero is bellow 3 and on the left of 1, hidden by the 4-5-6-7 face.) / 4 - 5 z

pub fn new(
    mins: OPoint<f32, Const<3_usize>>,
    maxs: OPoint<f32, Const<3_usize>>
) -> AABB

Creates a new AABB.

Arguments:

• mins - position of the point with the smallest coordinates.
• maxs - position of the point with the highest coordinates. Each component of mins must be smaller than the related components of maxs.

pub fn new_invalid() -> AABB

Creates an invalid AABB with mins components set to Real::max_values and maxscomponents set to -Real::max_values.

This is often used as the initial values of some AABB merging algorithms.

pub fn from_half_extents(
    center: OPoint<f32, Const<3_usize>>,
    half_extents: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> AABB

Creates a new AABB from its center and its half-extents.

pub fn from_points<'a, I>(pts: I) -> AABB where
    I: IntoIterator<Item = &'a OPoint<f32, Const<3_usize>>>, 

Creates a new AABB from a set of points.

pub fn center(&self) -> OPoint<f32, Const<3_usize>>

The center of this AABB.

pub fn half_extents(
    &self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The half extents of this AABB.

pub fn volume(&self) -> f32

The volume of this AABB.

pub fn extents(
    &self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The extents of this AABB.

pub fn take_point(&mut self, pt: OPoint<f32, Const<3_usize>>)

Enlarges this AABB so it also contains the point pt.

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

Computes the AABB bounding self transformed by m.

pub fn bounding_sphere(&self) -> BoundingSphere

The smallest bounding sphere containing this AABB.

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

pub fn vertices(&self) -> [OPoint<f32, Const<3_usize>>; 8]

Computes the vertices of this AABB.

pub fn split_at_center(&self) -> [AABB; 8]

Splits this AABB at its center, into height parts (as in an octree).

pub fn project_on_axis(
    &self,
    axis: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> (f32, f32)

Projects every point of AABB on an arbitrary axis.

pub fn intersects_spiral(
    &self,
    point: &OPoint<f32, Const<3_usize>>,
    center: &OPoint<f32, Const<3_usize>>,
    axis: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
    linvel: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    angvel: f32
) -> bool

impl AABB

pub fn clip_segment(
    &self,
    pa: &OPoint<f32, Const<3_usize>>,
    pb: &OPoint<f32, Const<3_usize>>
) -> Option<Segment>

Computes the intersection of a segment with this AABB.

Returns None if there is no intersection.

pub fn clip_line_parameters(
    &self,
    orig: &OPoint<f32, Const<3_usize>>,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Option<(f32, f32)>

Computes the parameters of the two intersection points between a line and this AABB.

The parameters are such that the point are given by orig + dir * parameter. Returns None if there is no intersection.

pub fn clip_line(
    &self,
    orig: &OPoint<f32, Const<3_usize>>,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Option<Segment>

Computes the intersection segment between a line and this AABB.

Returns None if there is no intersection.

pub fn clip_ray_parameters(&self, ray: &Ray) -> Option<(f32, f32)>

Computes the parameters of the two intersection points between a ray and this AABB.

The parameters are such that the point are given by ray.orig + ray.dir * parameter. Returns None if there is no intersection.

pub fn clip_ray(&self, ray: &Ray) -> Option<Segment>

Computes the intersection segment between a ray and this AABB.

Returns None if there is no intersection.

impl AABB

pub fn clip_polygon(
    &self,
    points: &mut Vec<OPoint<f32, Const<3_usize>>, Global>
)

Computes the intersections between this AABB and the given polygon.

The results is written into points directly. The input points are assumed to form a convex polygon where all points lie on the same plane. In order to avoid internal allocations, uses self.clip_polygon_with_workspace instead.

pub fn clip_polygon_with_workspace(
    &self,
    points: &mut Vec<OPoint<f32, Const<3_usize>>, Global>,
    workspace: &mut Vec<OPoint<f32, Const<3_usize>>, Global>
)

Computes the intersections between this AABB and the given polygon.

The results is written into points directly. The input points are assumed to form a convex polygon where all points lie on the same plane.

impl AABB

pub fn to_trimesh(
    &self
) -> (Vec<OPoint<f32, Const<3_usize>>, Global>, Vec<[u32; 3], Global>)

Discretize the boundary of this AABB as a triangle-mesh.

Trait Implementations

impl BoundingVolume for AABB

pub fn center(&self) -> OPoint<f32, Const<3_usize>>

Returns a point inside of this bounding volume. This is ideally its center.

pub fn intersects(&self, other: &AABB) -> bool

Checks if this bounding volume intersect with another one.

pub fn contains(&self, other: &AABB) -> bool

Checks if this bounding volume contains another one.

pub fn merge(&mut self, other: &AABB)

Merges this bounding volume with another one. The merge is done in-place.

pub fn merged(&self, other: &AABB) -> AABB

Merges this bounding volume with another one.

pub fn loosen(&mut self, amount: f32)

Enlarges this bounding volume.

pub fn loosened(&self, amount: f32) -> AABB

Creates a new, enlarged version, of this bounding volume.

pub fn tighten(&mut self, amount: f32)

Tighten this bounding volume.

pub fn tightened(&self, amount: f32) -> AABB

Creates a new, tightened version, of this bounding volume.

impl Clone for AABB

pub fn clone(&self) -> AABB

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for AABB

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

Formats the value using the given formatter.

impl PartialEq<AABB> for AABB

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

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

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

This method tests for !=.

impl PointQuery for AABB

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.

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 AABB

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 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 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 Copy for AABB

impl StructuralPartialEq for AABB