Struct parry3d_f64::shape::Cuboid [−][src]
Shape of a box.
Fields
half_extents: Vector<Real>
The half-extents of the cuboid.
Implementations
impl Cuboid
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pub fn aabb(&self, pos: &Isometry<Real>) -> AABB
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Computes the world-space AABB of this cuboid, transformed by pos
.
pub fn local_aabb(&self) -> AABB
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Computes the local-space AABB of this cuboid.
impl Cuboid
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pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
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Computes the world-space bounding sphere of this cuboid, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the local-space bounding sphere of this cuboid.
impl Cuboid
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pub fn new(half_extents: Vector<Real>) -> Cuboid
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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 support_feature(&self, local_dir: Vector<Real>) -> PolygonalFeature
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Return the face of this cuboid with a normal that maximizes
the dot product with local_dir
.
pub fn local_support_edge_segment(&self, local_dir: Vector<Real>) -> Segment
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Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
pub fn support_face(&self, local_dir: Vector<Real>) -> PolygonalFeature
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Computes the face with a normal that maximizes the dot-product with local_dir
.
impl Cuboid
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pub fn to_trimesh(&self) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)
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Discretize the boundary of this cuboid as a triangle-mesh.
Trait Implementations
impl Clone for Cuboid
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impl Copy for Cuboid
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impl Debug for Cuboid
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impl From<Cuboid> for TriMesh
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impl PartialEq<Cuboid> for Cuboid
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impl PointQuery for Cuboid
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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 PolygonalFeatureMap for Cuboid
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fn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
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&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
impl RayCast for Cuboid
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fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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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 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 Cuboid
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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>>>
impl StructuralPartialEq for Cuboid
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impl SupportMap for Cuboid
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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 Cuboid
impl Send for Cuboid
impl Sync for Cuboid
impl Unpin for Cuboid
impl UnwindSafe for Cuboid
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,
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T: Copy + PartialEq<T> + Debug + Any,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
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> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,