Struct ncollide2d::shape::Segment
source · pub struct Segment<N: Real> { /* private fields */ }
Expand description
A segment shape.
Implementations§
source§impl<N: Real> Segment<N>
impl<N: Real> Segment<N>
sourcepub fn scaled_direction(&self) -> Vector<N>
pub fn scaled_direction(&self) -> Vector<N>
The direction of this segment scaled by its length.
Points from self.a()
toward self.b()
.
sourcepub fn direction(&self) -> Option<Unit<Vector<N>>>
pub fn direction(&self) -> Option<Unit<Vector<N>>>
The unit direction of this segment.
Points from self.a()
toward self.b()
.
Returns None
is both points are equal.
sourcepub fn transformed(&self, m: &Isometry<N>) -> Self
pub fn transformed(&self, m: &Isometry<N>) -> Self
Applies the isometry m
to the vertices of this segment and returns the resulting segment.
sourcepub fn point_at(&self, location: &SegmentPointLocation<N>) -> Point<N>
pub fn point_at(&self, location: &SegmentPointLocation<N>) -> Point<N>
Computes the point at the given location.
Trait Implementations§
source§impl<N: Real> ConvexPolyhedron<N> for Segment<N>
impl<N: Real> ConvexPolyhedron<N> for Segment<N>
source§fn vertex(&self, id: FeatureId) -> Point<N>
fn vertex(&self, id: FeatureId) -> Point<N>
Gets the specified vertex in the shape local-space.
source§fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)
fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)
Fill
face
with the geometric description of the specified face, in the shape’s local-space.source§fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>
fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>
Get the normal cone of the specified feature, in the shape’s local-space.
source§fn support_face_toward(
&self,
m: &Isometry<N>,
dir: &Unit<Vector<N>>,
face: &mut ConvexPolygonalFeature<N>
)
fn support_face_toward(
&self,
m: &Isometry<N>,
dir: &Unit<Vector<N>>,
face: &mut ConvexPolygonalFeature<N>
)
Retrieve the face (in world-space) with a normal that maximizes the scalar product with
dir
.source§fn support_feature_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
_angle: N,
out: &mut ConvexPolygonalFeature<N>
)
fn support_feature_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
_angle: N,
out: &mut ConvexPolygonalFeature<N>
)
Retrieve the feature (in world-space) which normal cone contains
dir
.source§impl<N: Real> HasBoundingVolume<N, AABB<N>> for Segment<N>
impl<N: Real> HasBoundingVolume<N, AABB<N>> for Segment<N>
source§fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>
fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>
The bounding volume of
self
transformed by m
.source§impl<N: Real> HasBoundingVolume<N, BoundingSphere<N>> for Segment<N>
impl<N: Real> HasBoundingVolume<N, BoundingSphere<N>> for Segment<N>
source§fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>
fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>
The bounding volume of
self
transformed by m
.source§impl<N: PartialEq + Real> PartialEq<Segment<N>> for Segment<N>
impl<N: PartialEq + Real> PartialEq<Segment<N>> for Segment<N>
source§impl<N: Real> PointQuery<N> for Segment<N>
impl<N: Real> PointQuery<N> for Segment<N>
source§fn project_point(
&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> PointProjection<N>
fn project_point(
&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> PointProjection<N>
Projects a point on
self
transformed by m
.source§fn project_point_with_feature(
&self,
m: &Isometry<N>,
pt: &Point<N>
) -> (PointProjection<N>, FeatureId)
fn project_point_with_feature(
&self,
m: &Isometry<N>,
pt: &Point<N>
) -> (PointProjection<N>, FeatureId)
Projects a point on the boundary of
self
transformed by m
and retuns the id of the
feature the point was projected on. Read moresource§impl<N: Real> PointQueryWithLocation<N> for Segment<N>
impl<N: Real> PointQueryWithLocation<N> for Segment<N>
§type Location = SegmentPointLocation<N>
type Location = SegmentPointLocation<N>
Additional shape-specific projection information Read more
source§fn project_point_with_location(
&self,
m: &Isometry<N>,
pt: &Point<N>,
_: bool
) -> (PointProjection<N>, Self::Location)
fn project_point_with_location(
&self,
m: &Isometry<N>,
pt: &Point<N>,
_: bool
) -> (PointProjection<N>, Self::Location)
Projects a point on
self
transformed by m
.source§impl<N: Real> RayCast<N> for Segment<N>
impl<N: Real> RayCast<N> for Segment<N>
source§fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool
) -> Option<RayIntersection<N>>
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool
) -> Option<RayIntersection<N>>
Computes the time of impact, and normal between this transformed shape and a ray.
source§impl<N: Real> Shape<N> for Segment<N>
impl<N: Real> Shape<N> for Segment<N>
source§fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>
fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>
The bounding sphere of
self
.source§fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
The
RayCast
implementation of self
.source§fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
The
PointQuery
implementation of self
.source§fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
The support mapping of
self
if applicable.source§fn is_support_map(&self) -> bool
fn is_support_map(&self) -> bool
Whether
self
uses a supportmapping-based representation.source§fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
The convex polyhedron representation of
self
if applicable.source§fn is_convex_polyhedron(&self) -> bool
fn is_convex_polyhedron(&self) -> bool
Whether
self
uses a conve polyhedron representation.source§fn subshape_transform(&self, _: usize) -> Option<Isometry<N>>
fn subshape_transform(&self, _: usize) -> Option<Isometry<N>>
The transform of a specific subshape. Read more
source§fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
The composite shape representation of
self
if applicable.source§fn is_composite_shape(&self) -> bool
fn is_composite_shape(&self) -> bool
Whether
self
uses a composite shape-based representation.source§impl<N: Real> SupportMap<N> for Segment<N>
impl<N: Real> SupportMap<N> for Segment<N>
source§impl<N: Real> ToPolyline<N> for Segment<N>
impl<N: Real> ToPolyline<N> for Segment<N>
type DiscretizationParameter = ()
impl<N: Real> StructuralPartialEq for Segment<N>
Auto Trait Implementations§
impl<N> RefUnwindSafe for Segment<N>where
N: RefUnwindSafe,
impl<N> Send for Segment<N>
impl<N> Sync for Segment<N>
impl<N> Unpin for Segment<N>where
N: Unpin,
impl<N> UnwindSafe for Segment<N>where
N: UnwindSafe,
Blanket Implementations§
source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read moresource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self
is actually part of its subset T
(and can be converted to it).source§unsafe fn to_subset_unchecked(&self) -> SS
unsafe fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.