Struct SweptCapsule 

pub struct SweptCapsule {
    pub position_start: [f64; 3],
    pub position_end: [f64; 3],
    pub radius: f64,
    pub half_height: f64,
}

A capsule swept along a straight line defined by start and end positions.

The capsule itself is axis-aligned along the Y axis with given radius and half_height. The swept volume is the Minkowski sum of the capsule with the line segment.

Fields

position_start: [f64; 3]

World-space position of the capsule center at start.

position_end: [f64; 3]

World-space position of the capsule center at end.

radius: f64

Capsule radius.

half_height: f64

Capsule half-height (distance from centre to each hemisphere centre).

Implementations

impl SweptCapsule

pub fn new( position_start: [f64; 3], position_end: [f64; 3], radius: f64, half_height: f64, ) -> Self

Create a new SweptCapsule.

pub fn aabb(&self) -> ([f64; 3], [f64; 3])

Conservative AABB enclosing the swept capsule.

pub fn position_at(&self, t: f64) -> [f64; 3]

Position at parametric time t.

pub fn capsule_volume(&self) -> f64

Volume of the capsule (static, not swept).

pub fn toi_vs_sphere( &self, sphere_center: [f64; 3], sphere_radius: f64, ) -> Option<f64>

Time of impact against a static sphere using conservative advancement.

Returns t in [0, 1] or None.

Trait Implementations

impl Clone for SweptCapsule

fn clone(&self) -> SweptCapsule

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SweptCapsule

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

Formats the value using the given formatter.