Struct oxygengine_physics_2d::prelude::Capsule

pub struct Capsule<N> {
    pub half_height: N,
    pub radius: N,
}

SupportMap description of a capsule shape with its principal axis aligned with the y axis.

Fields

half_height: N

The half-height of the capsule’s cylindrical part.

radius: N

The radius of the capsule.

Implementations

impl<N> Capsule<N>where N: RealField + Copy,

pub fn new(half_height: N, radius: N) -> Capsule<N>

Creates a new capsule.

Arguments:

• half_height - the half length of the capsule along the y axis.
• radius - radius of the rounded part of the capsule.

pub fn half_height(&self) -> N

👎Deprecated: use the self.half_height public field directly.

The capsule half length along its local y axis.

pub fn height(&self) -> N

The capsule height along its local y axis.

pub fn radius(&self) -> N

👎Deprecated: use the self.radius public field directly.

The radius of the capsule’s rounded part.

pub fn segment(&self) -> Segment<N>

The segment that, once dilated by self.radius yields this capsule.

pub fn contact_preprocessor(&self) -> impl ContactPreprocessor<N>

The contact preprocessor to be used for contact determination with this capsule.

Trait Implementations

impl<N> Clone for Capsule<N>where N: Clone,

fn clone(&self) -> Capsule<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> Debug for Capsule<N>where N: Debug,

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

Formats the value using the given formatter.

impl<'de, N> Deserialize<'de> for Capsule<N>where N: Deserialize<'de>,

fn deserialize<__D>( __deserializer: __D ) -> Result<Capsule<N>, <__D as Deserializer<'de>>::Error>where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<N> HasBoundingVolume<N, AABB<N>> for Capsule<N>where N: RealField + Copy,

fn bounding_volume(&self, m: &Isometry<N, Unit<Complex<N>>, 2>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Capsule<N>where N: RealField + Copy,

fn bounding_volume( &self, m: &Isometry<N, Unit<Complex<N>>, 2> ) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N> PartialEq<Capsule<N>> for Capsule<N>where N: PartialEq<N>,

fn eq(&self, other: &Capsule<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<N> PointQuery<N> for Capsule<N>where N: RealField + Copy,

fn project_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, pt: &OPoint<N, Const<2>>, solid: bool ) -> PointProjection<N>

Projects a point on self transformed by m.

fn project_point_with_feature( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, pt: &OPoint<N, Const<2>> ) -> (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.

fn distance_to_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, pt: &OPoint<N, Const<2>>, solid: bool ) -> N

Computes the minimal distance between a point and self transformed by m.

fn contains_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, pt: &OPoint<N, Const<2>> ) -> bool

Tests if the given point is inside of self transformed by m.

impl<N> RayCast<N> for Capsule<N>where N: RealField + Copy,

fn toi_and_normal_with_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ray: &Ray<N>, max_toi: N, solid: bool ) -> Option<RayIntersection<N>>

Computes the time of impact, and normal between this transformed shape and a ray.

fn toi_with_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ray: &Ray<N>, max_toi: N, solid: bool ) -> Option<N>

Computes the time of impact between this transform shape and a ray.

fn intersects_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ray: &Ray<N>, max_toi: N ) -> bool

Tests whether a ray intersects this transformed shape.

impl<N> Serialize for Capsule<N>where N: Serialize,

fn serialize<__S>( &self, __serializer: __S ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<N> Shape<N> for Capsule<N>where N: RealField + Copy,

fn aabb(&self, m: &Isometry<N, Unit<Complex<N>>, 2>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere( &self, m: &Isometry<N, Unit<Complex<N>>, 2> ) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn tangent_cone_contains_dir( &self, _: FeatureId, _: &Isometry<N, Unit<Complex<N>>, 2>, _: Option<&[N]>, _: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>> ) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N> SupportMap<N> for Capsule<N>where N: RealField + Copy,

fn local_support_point( &self, dir: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>> ) -> OPoint<N, Const<2>>

fn local_support_point_toward( &self, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>> ) -> OPoint<N, Const<2>>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>> ) -> OPoint<N, Const<2>>

fn support_point_toward( &self, transform: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>> ) -> OPoint<N, Const<2>>

Same as self.support_point except that dir is normalized.

impl<N> ToPolyline<N> for Capsule<N>where N: RealField + Copy,

type DiscretizationParameter = u32

fn to_polyline(&self, nsubdiv: u32) -> Polyline<N>

Builds a triangle mesh from this shape.

impl<N> Volumetric<N> for Capsule<N>where N: RealField + Copy,

fn area(&self) -> N

Computes the area of this object.

fn volume(&self) -> N

Computes the volume of this object.

fn center_of_mass(&self) -> OPoint<N, Const<2>>

Computes the center of mass of this object.

fn unit_angular_inertia( &self ) -> Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>

Computes the angular inertia tensor of this object.

fn mass(&self, density: N) -> N

Given its density, this computes the mass of this object.

fn angular_inertia( &self, mass: N ) -> Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>

Given its mass, this computes the angular inertia of this object.

fn mass_properties( &self, density: N ) -> (N, OPoint<N, Const<2>>, Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>)

Given its density, this computes the mass, center of mass, and inertia tensor of this object.

fn transformed_mass_properties( &self, density: N, pos: &Isometry<N, Unit<Complex<N>>, 2> ) -> (OPoint<N, Const<2>>, Inertia2<N>)

Given its density and position, this computes the mass, transformed center of mass, and transformed inertia tensor of this object.

fn inertia(&self, density: N) -> Inertia2<N>

impl<N> Copy for Capsule<N>where N: Copy,

impl<N> StructuralPartialEq for Capsule<N>