Struct BoxShape 

pub struct BoxShape {
    pub half_extents: Vec3,
}

An axis-aligned box defined by half-extents.

Fields

half_extents: Vec3

Half-extents along each axis.

Implementations

impl BoxShape

pub fn new(half_extents: Vec3) -> Self

Create a new box with the given half-extents.

pub fn volume_explicit(&self) -> Real

Volume: (2hx)(2hy)(2hz).

pub fn surface_area(&self) -> Real

Surface area: 2*(2hx2hy + 2hy2hz + 2hx*2hz).

pub fn inertia_tensor_array(&self, mass: f64) -> [[f64; 3]; 3]

Inertia tensor as [[f64;3\];3] row-major. Diagonal: m/12*(b²+c², a²+c², a²+b²) where a,b,c are full side lengths.

pub fn ray_cast_array( &self, origin: [f64; 3], direction: [f64; 3], max_toi: f64, ) -> Option<(f64, [f64; 3])>

Ray cast returning (t, normal) as plain arrays (slab method).

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

GJK support function: farthest point in direction (componentwise sign).

pub fn vertex_list(&self) -> [[f64; 3]; 8]

All 8 vertices of the box.

pub fn face_normals() -> [[f64; 3]; 6]

Returns the 6 face normals of the box (axis-aligned, outward).

pub fn edge_list() -> [(usize, usize); 12]

Returns the 12 edges of the box as pairs of vertex indices into vertex_list().

pub fn face_vertex_indices() -> [[usize; 4]; 6]

Returns the 6 faces as groups of 4 vertex indices (into vertex_list()). Each face’s vertices are in counter-clockwise order from outside.

pub fn face_areas(&self) -> [f64; 6]

Area of each face: returns [+X, -X, +Y, -Y, +Z, -Z].

pub fn closest_point(&self, p: [f64; 3]) -> [f64; 3]

Closest point on (or inside) the box to point p.

pub fn contains_point(&self, p: [f64; 3]) -> bool

Returns true if p is inside (or on the surface of) the box.

pub fn signed_distance(&self, p: [f64; 3]) -> f64

Signed distance from a point to the box surface. Negative if inside, positive if outside.

pub fn clip_segment(&self, a: [f64; 3], b: [f64; 3]) -> Option<(f64, f64)>

Clip a line segment (from a to b) against this box. Returns Some((t_enter, t_exit)) where 0 <= t_enter <= t_exit <= 1, or None if the segment doesn’t intersect the box.

pub fn classify_face(&self, p: [f64; 3]) -> usize

Determine which face a surface point is on. Returns the face index (0=+X, 1=-X, 2=+Y, 3=-Y, 4=+Z, 5=-Z).

pub fn diagonal_length(&self) -> f64

Diagonal length of the box: 2 * sqrt(hx² + hy² + hz²).

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

Edge lengths: [2hx, 2hy, 2*hz].

pub fn project_on_axis(&self, axis: [f64; 3]) -> (f64, f64)

Project the box onto an axis and return (min, max) interval.

Trait Implementations

impl Clone for BoxShape

fn clone(&self) -> BoxShape

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BoxShape

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

Formats the value using the given formatter.

impl Shape for BoxShape

fn bounding_box(&self) -> Aabb

Compute the axis-aligned bounding box of this shape (in local space).

fn support_point(&self, direction: &Vec3) -> Vec3

Compute the support point in the given direction (for GJK).

fn volume(&self) -> Real

Compute the volume of this shape.

fn center_of_mass(&self) -> Vec3

Compute the center of mass in local space.

fn inertia_tensor(&self, mass: Real) -> Mat3

Compute the inertia tensor for the given mass.

fn ray_cast( &self, ray_origin: &Vec3, ray_direction: &Vec3, max_toi: Real, ) -> Option<RayHit>

Cast a ray against this shape (in local space). Returns the first intersection within max_toi.

fn mass_properties(&self, density: Real) -> MassProperties

Compute full mass properties for a given density.