Struct parry2d::shape::Capsule

pub struct Capsule {
    pub segment: Segment,
    pub radius: Real,
}

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

pub fn aabb(&self, pos: &Isometry<Real>) -> AABB

The axis-aligned bounding box of this capsule.

pub fn local_aabb(&self) -> AABB

The axis-aligned bounding box of this capsule.

impl Capsule

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

Computes the world-space bounding sphere of this capsule, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the world-space bounding sphere of this capsule.

impl Capsule

pub fn new_x(half_height: Real, radius: Real) -> Self

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

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

Creates a new capsule defined as the segment between a and b and with the given radius.

pub fn height(&self) -> Real

The height of this capsule.

pub fn half_height(&self) -> Real

The half-height of this capsule.

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

The center of this capsule.

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

Creates a new capsule equal to self with all its endpoints transformed by pos.

pub fn canonical_transform(&self) -> Isometry<Real>

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>

The rotation r such that r * Y is collinear with b - a.

pub fn transform_wrt_y(&self) -> Isometry<Real>

The transform t such that t * Y is collinear with b - a and such that t * origin = (b + a) / 2.0.

impl Capsule

pub fn to_polyline(&self, nsubdiv: u32) -> Vec<Point2<Real>>

Discretize the boundary of this capsule as a polygonal line.

Trait Implementations

impl Clone for Capsule

fn clone(&self) -> Capsule

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Capsule

impl Debug for Capsule

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

Formats the value using the given formatter.

impl PointQuery for Capsule

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 Capsule

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 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 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 Shape for Capsule

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

Computes the AABB of this shape with the given position.

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

Compute the mass-properties of this shape given its uniform density.

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn ccd_thickness(&self) -> Real

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

Convents this shape into its support mapping, if it has one.

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<Real>
) -> Option<Unit<Vector<Real>>>

The shape's normal at the given point located on a specific feature.

impl SupportMap for Capsule

fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

fn support_point(
    &self,
    transform: &Isometry<Real>,
    dir: &Vector<Real>
) -> Point<Real>

fn support_point_toward(
    &self,
    transform: &Isometry<Real>,
    dir: &Unit<Vector<Real>>
) -> Point<Real>

Same as self.support_point except that dir is normalized.