Struct SweptObb 

pub struct SweptObb {
    pub center_start: [f64; 3],
    pub axes: [[f64; 3]; 3],
    pub half_extents: [f64; 3],
    pub displacement: [f64; 3],
}

An oriented bounding box swept linearly along a displacement vector.

The box is described by its centre, three orientation axes (rows of a 3×3 rotation matrix), and half-extents along each local axis. The swept volume is conservative: AABB of start + end OBB.

Fields

center_start: [f64; 3]

OBB centre at the start.

axes: [[f64; 3]; 3]

OBB orientation: three unit axis vectors.

half_extents: [f64; 3]

Half-extents along each axis.

displacement: [f64; 3]

Displacement vector (center_end = center_start + displacement).

Implementations

impl SweptObb

pub fn new( center_start: [f64; 3], axes: [[f64; 3]; 3], half_extents: [f64; 3], displacement: [f64; 3], ) -> Self

Create a new SweptObb.

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

Centre at the end of the sweep.

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

Conservative AABB enclosing the OBB at both start and end.

pub fn volume(&self) -> f64

Volume of the OBB (static).

pub fn support(&self, dir: [f64; 3]) -> [f64; 3]

Support point of the static OBB in direction dir.

Trait Implementations

impl Clone for SweptObb

fn clone(&self) -> SweptObb

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SweptObb

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

Formats the value using the given formatter.