Struct parry2d::shape::Cuboid

pub struct Cuboid {
    pub half_extents: Vector<Real>,
}

Shape of a box.

Fields

half_extents: Vector<Real>

The half-extents of the cuboid.

Implementations

impl Cuboid

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

Computes the world-space AABB of this cuboid, transformed by pos.

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this cuboid.

impl Cuboid

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this cuboid.

impl Cuboid

pub fn new(half_extents: Vector<Real>) -> Cuboid

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

pub fn vertex_feature_id(vertex: Point<Real>) -> u32

Return the id of the vertex of this cuboid with a normal that maximizes the dot product with dir.

pub fn support_feature(&self, local_dir: Vector<Real>) -> PolygonalFeature

Return the feature of this cuboid with a normal that maximizes the dot product with dir.

pub fn support_face(&self, local_dir: Vector<Real>) -> PolygonalFeature

Return the face of this cuboid with a normal that maximizes the dot product with local_dir.

impl Cuboid

pub fn to_polyline(&self) -> Vec<Point2<Real>>

Discretize the boundary of this cuboid as a polygonal line.

Trait Implementations

impl Clone for Cuboid

fn clone(&self) -> Cuboid

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Cuboid

impl Debug for Cuboid

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

Formats the value using the given formatter.

impl PartialEq<Cuboid> for Cuboid

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

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

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

This method tests for !=.

impl PointQuery for Cuboid

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 PolygonalFeatureMap for Cuboid

fn local_support_feature(
    &self,
    dir: &Unit<Vector<Real>>,
    out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

impl RayCast for Cuboid

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 Shape for Cuboid

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere 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 as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_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 compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

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 StructuralPartialEq for Cuboid

impl SupportMap for Cuboid

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.