Struct SweptSphere 

pub struct SweptSphere {
    pub center_start: [f64; 3],
    pub center_end: [f64; 3],
    pub radius: f64,
}

A sphere swept along a straight line segment — effectively a capsule.

Fields

center_start: [f64; 3]

World-space centre at the start of the sweep.

center_end: [f64; 3]

World-space centre at the end of the sweep.

radius: f64

Radius of the sphere.

Implementations

impl SweptSphere

pub fn new(center_start: [f64; 3], center_end: [f64; 3], radius: f64) -> Self

Create a new SweptSphere.

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

Compute a tight axis-aligned bounding box enclosing the entire sweep.

pub fn sweep_length(&self) -> f64

Length of the sweep path.

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

Centre position at parametric time t in [0, 1].

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

Sweep direction (unnormalized).

pub fn surface_area(&self) -> f64

Surface area of the swept volume (capsule surface area).

pub fn volume(&self) -> f64

Volume of the swept volume (capsule volume).

pub fn ray_intersect( &self, ray_origin: [f64; 3], ray_dir: [f64; 3], ) -> Option<f64>

Ray vs swept sphere (capsule) intersection.

Returns the smallest non-negative t such that the ray ray_origin + t * ray_dir touches the capsule surface, or None on miss.

The capsule is the Minkowski sum of the line segment [center_start, center_end] with a ball of radius.

Trait Implementations

impl Clone for SweptSphere

fn clone(&self) -> SweptSphere

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SweptSphere

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

Formats the value using the given formatter.