Expand description
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
sourceimpl Capsule
impl Capsule
sourcepub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> BoundingSphere
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> BoundingSphere
Computes the world-space bounding sphere of this capsule, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the world-space bounding sphere of this capsule.
sourceimpl Capsule
impl Capsule
sourcepub fn new_x(half_height: f32, radius: f32) -> Capsule
pub fn new_x(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the x
axis and with the given half-height an radius.
sourcepub fn new_y(half_height: f32, radius: f32) -> Capsule
pub fn new_y(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the y
axis and with the given half-height an radius.
sourcepub fn new_z(half_height: f32, radius: f32) -> Capsule
pub fn new_z(half_height: f32, radius: f32) -> Capsule
Creates a new capsule aligned with the z
axis and with the given half-height an radius.
sourcepub fn new(
a: OPoint<f32, Const<3>>,
b: OPoint<f32, Const<3>>,
radius: f32
) -> Capsule
pub fn new(
a: OPoint<f32, Const<3>>,
b: OPoint<f32, Const<3>>,
radius: f32
) -> Capsule
Creates a new capsule defined as the segment between a
and b
and with the given radius
.
sourcepub fn half_height(&self) -> f32
pub fn half_height(&self) -> f32
The half-height of this capsule.
sourcepub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> Capsule
pub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> Capsule
Creates a new capsule equal to self
with all its endpoints transformed by pos
.
sourcepub fn canonical_transform(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3>
pub fn canonical_transform(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3>
The transformation such that t * Y
is collinear with b - a
and t * origin
equals
the capsule’s center.
sourcepub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
pub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
The rotation r
such that r * Y
is collinear with b - a
.
sourcepub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3>
pub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3>
The transform t
such that t * Y
is collinear with b - a
and such that t * origin = (b + a) / 2.0
.
sourcepub fn scaled(
self,
scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
nsubdivs: u32
) -> Option<Either<Capsule, ConvexPolyhedron>>
pub fn scaled(
self,
scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
nsubdivs: u32
) -> Option<Either<Capsule, ConvexPolyhedron>>
Computes a scaled version of this capsule.
If the scaling factor is non-uniform, then it can’t be represented as
capsule. Instead, a convex polygon approximation (with nsubdivs
subdivisions) is returned. Returns None
if that approximation had degenerate
normals (for example if the scaling factor along one axis is zero).
Trait Implementations
sourceimpl PointQuery for Capsule
impl PointQuery for Capsule
sourcefn project_local_point(
&self,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> PointProjection
self
. Read moresourcefn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3>>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3>>
) -> (PointProjection, FeatureId)
self
and returns the id of the
feature the point was projected on. Read moresourcefn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
self
, unless the projection lies further than the given max distance. Read moresourcefn 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>
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>
self
transformed by m
, unless the projection lies further than the given max distance.sourcefn distance_to_local_point(&self, pt: &OPoint<f32, Const<3>>, solid: bool) -> f32
fn distance_to_local_point(&self, pt: &OPoint<f32, Const<3>>, solid: bool) -> f32
self
.sourcefn contains_local_point(&self, pt: &OPoint<f32, Const<3>>) -> bool
fn contains_local_point(&self, pt: &OPoint<f32, Const<3>>) -> bool
self
.sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> PointProjection
self
transformed by m
.sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> f32
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>,
solid: bool
) -> f32
self
transformed by m
.sourcefn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
pt: &OPoint<f32, Const<3>>
) -> (PointProjection, FeatureId)
self
transformed by m
and returns the id of the
feature the point was projected on. Read moresourceimpl RayCast for Capsule
impl RayCast for Capsule
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
sourcefn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32
) -> bool
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
ray: &Ray,
max_toi: f32
) -> bool
sourceimpl Shape for Capsule
impl Shape for Capsule
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
sourcefn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> AABB
fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> AABB
sourcefn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> MassProperties
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> BoundingSphere
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &OPoint<f32, Const<3>>
) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>
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>>>>
sourcefn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> AABB
sourceimpl SupportMap for Capsule
impl SupportMap for Capsule
fn local_support_point(
&self,
dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> OPoint<f32, Const<3>>
sourcefn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>>
self.local_support_point
except that dir
is normalized.fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> OPoint<f32, Const<3>>
impl Copy for Capsule
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
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) -> U
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&self,
_images: &HashMap<Handle<Image>, <Image as RenderAsset>::PreparedAsset, RandomState, Global>
) -> U
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] for self
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