Struct parry2d_f64::shape::Capsule [−][src]
A capsule shape defined as a round segment.
Fields
segment: Segment
The axis and endpoint of the capsule.
radius: Real
The radius of the capsule.
Implementations
impl Capsule
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impl Capsule
[src]pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
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Computes the world-space bounding sphere of this capsule, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the world-space bounding sphere of this capsule.
impl Capsule
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impl Capsule
[src]pub fn new_x(half_height: Real, radius: Real) -> Self
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Creates a new capsule aligned with the x
axis and with the given half-height an radius.
pub fn new_y(half_height: Real, radius: Real) -> Self
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Creates a new capsule aligned with the y
axis and with the given half-height an radius.
pub fn new(a: Point<Real>, b: Point<Real>, radius: Real) -> Self
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Creates a new capsule defined as the segment between a
and b
and with the given radius
.
pub fn height(&self) -> Real
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The height of this capsule.
pub fn half_height(&self) -> Real
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The half-height of this capsule.
pub fn center(&self) -> Point<Real>
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The center of this capsule.
pub fn transform_by(&self, pos: &Isometry<Real>) -> Self
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Creates a new capsule equal to self
with all its endpoints transformed by pos
.
pub fn canonical_transform(&self) -> Isometry<Real>
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The transformation such that t * Y
is collinear with b - a
and t * origin
equals
the capsule’s center.
pub fn rotation_wrt_y(&self) -> Rotation<Real>
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The rotation r
such that r * Y
is collinear with b - a
.
pub fn transform_wrt_y(&self) -> Isometry<Real>
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The transform t
such that t * Y
is collinear with b - a
and such that t * origin = (b + a) / 2.0
.
Trait Implementations
impl PointQuery for Capsule
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impl PointQuery for Capsule
[src]fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
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fn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
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fn contains_local_point(&self, pt: &Point<Real>) -> bool
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fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool
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impl RayCast for Capsule
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impl RayCast for Capsule
[src]fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
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fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool
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impl Shape for Capsule
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impl Shape for Capsule
[src]fn clone_box(&self) -> Box<dyn Shape>
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fn compute_local_aabb(&self) -> AABB
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fn compute_local_bounding_sphere(&self) -> BoundingSphere
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fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
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fn mass_properties(&self, density: Real) -> MassProperties
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fn is_convex(&self) -> bool
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fn shape_type(&self) -> ShapeType
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fn as_typed_shape(&self) -> TypedShape<'_>
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fn ccd_thickness(&self) -> Real
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fn ccd_angular_thickness(&self) -> Real
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fn as_support_map(&self) -> Option<&dyn SupportMap>
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
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&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
fn compute_swept_aabb(
&self,
start_pos: &Isometry<Real>,
end_pos: &Isometry<Real>
) -> AABB
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&self,
start_pos: &Isometry<Real>,
end_pos: &Isometry<Real>
) -> AABB
impl SupportMap for Capsule
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impl SupportMap for Capsule
[src]fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>
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fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>
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fn support_point(
&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
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&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
fn support_point_toward(
&self,
transform: &Isometry<Real>,
dir: &Unit<Vector<Real>>
) -> Point<Real>
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&self,
transform: &Isometry<Real>,
dir: &Unit<Vector<Real>>
) -> Point<Real>
Auto Trait Implementations
impl RefUnwindSafe for Capsule
impl RefUnwindSafe for Capsule
impl UnwindSafe for Capsule
impl UnwindSafe for Capsule
Blanket Implementations
impl<T> CheckedAs for T
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impl<T> CheckedAs for T
[src]pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
[src]pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
[src]pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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impl<T> OverflowingAs for T
[src]pub fn overflowing_as<Dst>(self) -> (Dst, bool) where
T: OverflowingCast<Dst>,
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T: OverflowingCast<Dst>,
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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impl<T> SaturatingAs for T
[src]pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> UnwrappedAs for T
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impl<T> UnwrappedAs for T
[src]pub fn unwrapped_as<Dst>(self) -> Dst where
T: UnwrappedCast<Dst>,
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T: UnwrappedCast<Dst>,
impl<T> WrappingAs for T
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impl<T> WrappingAs for T
[src]pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,