Struct Cuboid 

pub struct Cuboid<N>
where
    N: RealField + Copy,
{
    pub half_extents: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>,
}

Shape of a box.

Fields

half_extents: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>

The half-extents of the cuboid.

Implementations

impl<N> Cuboid<N>

where N: RealField + Copy,

pub fn new( half_extents: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, ) -> Cuboid<N>

Creates a new box from its half-extents. Half-extents are the box half-width along each axis. Each half-extent must be positive.

impl<N> Cuboid<N>

where N: RealField + Copy,

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

👎Deprecated:

use the self.half_extents public field directly.

The half-extents of this box. Half-extents are the box half-width along each axis.

pub fn tangent_cone_contains_dir( &self, feature: FeatureId, m: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, ) -> bool

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

impl<N> Clone for Cuboid<N>

where N: Clone + RealField + Copy,

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N> ConvexPolyhedron<N> for Cuboid<N>

where N: RealField + Copy,

fn vertex(&self, id: FeatureId) -> OPoint<N, Const<2>>

Gets the specified vertex in the shape local-space.

fn face(&self, id: FeatureId, out: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape’s local-space.

fn support_face_toward( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, out: &mut ConvexPolygonalFeature<N>, )

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

fn support_feature_toward( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, angle: N, out: &mut ConvexPolygonalFeature<N>, )

Retrieve the feature (in world-space) which normal cone contains dir.

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

Retrieve the identifier of the feature which normal cone contains dir.

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

Returns any normal from the normal cone of the given feature.

impl<N> Debug for Cuboid<N>

where N: Debug + RealField + Copy,

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

Formats the value using the given formatter.

impl<'de, N> Deserialize<'de> for Cuboid<N>

where N: RealField + Copy + Deserialize<'de>,

fn deserialize<__D>( __deserializer: __D, ) -> Result<Cuboid<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 Cuboid<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 Cuboid<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 for Cuboid<N>

where N: PartialEq + RealField + Copy,

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

Tests for self and other values to be equal, and is used by ==.

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

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

impl<N> PointQuery<N> for Cuboid<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 Cuboid<N>

where N: RealField + Copy,

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 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 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 Cuboid<N>

where N: RealField + Copy + 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 Cuboid<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 as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn tangent_cone_contains_dir( &self, feature: FeatureId, m: &Isometry<N, Unit<Complex<N>>, 2>, _: Option<&[N]>, dir: &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_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_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 Cuboid<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 Cuboid<N>

where N: RealField + Copy,

type DiscretizationParameter = ()

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

Builds a triangle mesh from this shape.

impl<N> Volumetric<N> for Cuboid<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 Cuboid<N>

where N: Copy + RealField,

impl<N> StructuralPartialEq for Cuboid<N>

where N: RealField + Copy,