Struct heron::rapier_plugin::rapier::parry::shape::Capsule [−][src]
A capsule shape defined as a round segment.
Fields
segment: Segment
The axis and endpoint of the capsule.
radius: f32
The radius of the capsule.
Implementations
impl Capsule
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pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB
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The axis-aligned bounding box of this capsule.
pub fn local_aabb(&self) -> AABB
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The axis-aligned bounding box of this capsule.
impl Capsule
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pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
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&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this capsule, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the world-space bounding sphere of this capsule.
impl Capsule
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pub fn new_x(half_height: f32, radius: f32) -> Capsule
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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) -> Capsule
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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) -> Capsule
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Creates a new capsule aligned with the z
axis and with the given half-height an radius.
pub fn new(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> Capsule
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a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> Capsule
Creates a new capsule defined as the segment between a
and b
and with the given radius
.
pub fn height(&self) -> f32
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The height of this capsule.
pub fn half_height(&self) -> f32
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The half-height of this capsule.
pub fn center(&self) -> Point<f32, 3_usize>
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The center of this capsule.
pub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
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&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
Creates a new capsule equal to self
with all its endpoints transformed by pos
.
pub fn canonical_transform(
&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
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&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The transformation such that t * Y
is collinear with b - a
and t * origin
equals
the capsule’s center.
pub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
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The rotation r
such that r * Y
is collinear with b - a
.
pub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
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The transform t
such that t * Y
is collinear with b - a
and such that t * origin = (b + a) / 2.0
.
impl Capsule
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pub fn to_trimesh(
&self,
ntheta_subdiv: u32,
nphi_subdiv: u32
) -> (Vec<Point<f32, 3_usize>, Global>, Vec<[u32; 3], Global>)
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&self,
ntheta_subdiv: u32,
nphi_subdiv: u32
) -> (Vec<Point<f32, 3_usize>, Global>, Vec<[u32; 3], Global>)
Discretize the boundary of this capsule as a triangle-mesh.
Trait Implementations
impl Clone for Capsule
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impl Copy for Capsule
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impl Debug for Capsule
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impl PointQuery for Capsule
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pub fn project_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
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&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
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&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
pub fn distance_to_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
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&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
pub fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
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pub fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
pub fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
pub fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
impl RayCast for Capsule
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pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
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pub fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
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&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
impl Shape for Capsule
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pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
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pub fn compute_local_aabb(&self) -> AABB
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pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
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pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
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&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
pub fn mass_properties(&self, density: f32) -> MassProperties
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pub fn is_convex(&self) -> bool
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pub fn shape_type(&self) -> ShapeType
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pub fn as_typed_shape(&self) -> TypedShape<'_>
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pub fn ccd_thickness(&self) -> f32
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pub fn ccd_angular_thickness(&self) -> f32
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pub fn as_support_map(&self) -> Option<&dyn SupportMap>
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pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
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&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
pub fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
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&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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pub fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
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&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
impl SupportMap for Capsule
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pub fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
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&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
pub fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
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&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
pub fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
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&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
pub fn support_point_toward(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
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&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
Auto Trait Implementations
impl RefUnwindSafe for Capsule
impl Send for Capsule
impl Sync for Capsule
impl Unpin for Capsule
impl UnwindSafe for Capsule
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Any + Clone,
T: Any + Clone,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> Downcast<T> for T
impl<T> DowncastSync for T where
T: Any + Send + Sync,
T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<T> Upcast<T> for T
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,