Struct parry2d::bounding_volume::AABB

pub struct AABB {
    pub mins: Point<Real>,
    pub maxs: Point<Real>,
}

An Axis Aligned Bounding Box.

Fields

mins: Point<Real>

maxs: Point<Real>

Implementations

impl AABB

pub fn new(mins: Point<Real>, maxs: Point<Real>) -> AABB

Creates a new AABB.

Arguments:

• mins - position of the point with the smallest coordinates.
• maxs - position of the point with the highest coordinates. Each component of mins must be smaller than the related components of maxs.

pub fn new_invalid() -> Self

Creates an invalid AABB with mins components set to Real::max_values and maxscomponents set to -Real::max_values.

This is often used as the initial values of some AABB merging algorithms.

pub fn from_half_extents(
    center: Point<Real>,
    half_extents: Vector<Real>
) -> Self

Creates a new AABB from its center and its half-extents.

pub fn from_points<'a, I>(pts: I) -> Self where
    I: IntoIterator<Item = &'a Point<Real>>, 

Creates a new AABB from a set of points.

pub fn center(&self) -> Point<Real>

The center of this AABB.

pub fn half_extents(&self) -> Vector<Real>

The half extents of this AABB.

pub fn extents(&self) -> Vector<Real>

The extents of this AABB.

pub fn take_point(&mut self, pt: Point<Real>)

Enlarges this AABB so it also contains the point pt.

pub fn transform_by(&self, m: &Isometry<Real>) -> Self

Computes the AABB bounding self transformed by m.

pub fn bounding_sphere(&self) -> BoundingSphere

The smallest bounding sphere containing this AABB.

pub fn contains_local_point(&self, point: &Point<Real>) -> bool

impl AABB

pub fn clip_segment(
    &self,
    pa: &Point<Real>,
    pb: &Point<Real>
) -> Option<Segment>

Computes the intersection of a segment with this AABB.

Returns None if there is no intersection.

pub fn clip_line_parameters(
    &self,
    orig: &Point<Real>,
    dir: &Vector<Real>
) -> Option<(Real, Real)>

Computes the parameters of the two intersection points between a line and this AABB.

The parameters are such that the point are given by orig + dir * parameter. Returns None if there is no intersection.

pub fn clip_line(
    &self,
    orig: &Point<Real>,
    dir: &Vector<Real>
) -> Option<Segment>

Computes the intersection segment between a line and this AABB.

Returns None if there is no intersection.

pub fn clip_ray_parameters(&self, ray: &Ray) -> Option<(Real, Real)>

Computes the parameters of the two intersection points between a ray and this AABB.

The parameters are such that the point are given by ray.orig + ray.dir * parameter. Returns None if there is no intersection.

pub fn clip_ray(&self, ray: &Ray) -> Option<Segment>

Computes the intersection segment between a ray and this AABB.

Returns None if there is no intersection.

impl AABB

pub fn clip_polygon(&self, points: &mut Vec<Point<Real>>)

Computes the intersections between this AABB and the given polygon.

The results is written into points directly. The input points are assumed to form a convex polygon where all points lie on the same plane. In order to avoid internal allocations, uses self.clip_polygon_with_workspace instead.

pub fn clip_polygon_with_workspace(
    &self,
    points: &mut Vec<Point<Real>>,
    workspace: &mut Vec<Point<Real>>
)

Computes the intersections between this AABB and the given polygon.

The results is written into points directly. The input points are assumed to form a convex polygon where all points lie on the same plane.

Trait Implementations

impl BoundingVolume for AABB

fn center(&self) -> Point<Real>

Returns a point inside of this bounding volume. This is ideally its center.

fn intersects(&self, other: &AABB) -> bool

Checks if this bounding volume intersect with another one.

fn contains(&self, other: &AABB) -> bool

Checks if this bounding volume contains another one.

fn merge(&mut self, other: &AABB)

Merges this bounding volume with another one. The merge is done in-place.

fn merged(&self, other: &AABB) -> AABB

Merges this bounding volume with another one.

fn loosen(&mut self, amount: Real)

Enlarges this bounding volume.

fn loosened(&self, amount: Real) -> AABB

Creates a new, enlarged version, of this bounding volume.

fn tighten(&mut self, amount: Real)

Tighten this bounding volume.

fn tightened(&self, amount: Real) -> AABB

Creates a new, tightened version, of this bounding volume.

impl Clone for AABB

fn clone(&self) -> AABB

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for AABB

impl Debug for AABB

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

Formats the value using the given formatter.

impl PartialEq<AABB> for AABB

fn eq(&self, other: &AABB) -> bool

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

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

This method tests for !=.

impl PointQuery for AABB

fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature(
    &self,
    pt: &Point<Real>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> Real

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

fn project_point_and_get_feature(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

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

impl RayCast for AABB

fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>

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

fn cast_local_ray_and_get_normal(
    &self,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<RayIntersection>

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

fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray(
    &self,
    m: &Isometry<Real>,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<Real>

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

fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<Real>,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<RayIntersection>

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

fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

impl StructuralPartialEq for AABB