Struct parry3d::bounding_volume::AABB [−][src]
An Axis Aligned Bounding Box.
Fields
mins: Point<Real>
maxs: Point<Real>
Implementations
impl AABB
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pub const EDGES_VERTEX_IDS: [(usize, usize); 12]
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The vertex indices of each edge of this AABB.
This gives, for each edge of this AABB, the indices of its
vertices when taken from the self.vertices()
array.
Here is how the faces are numbered, assuming
a right-handed coordinate system:
y 3 - 2 | 7 − 6 | ___ x | | 1 (the zero is bellow 3 and on the left of 1, hidden by the 4-5-6-7 face.) / 4 - 5 z
pub const FACES_VERTEX_IDS: [(usize, usize, usize, usize); 6]
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The vertex indices of each face of this AABB.
This gives, for each face of this AABB, the indices of its
vertices when taken from the self.vertices()
array.
Here is how the faces are numbered, assuming
a right-handed coordinate system:
y 3 - 2 | 7 − 6 | ___ x | | 1 (the zero is bellow 3 and on the left of 1, hidden by the 4-5-6-7 face.) / 4 - 5 z
pub fn new(mins: Point<Real>, maxs: Point<Real>) -> AABB
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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 ofmins
must be smaller than the related components ofmaxs
.
pub fn new_invalid() -> Self
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Creates an invalid AABB with mins
components set to Real::max_values
and maxs
components 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
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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>>,
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I: IntoIterator<Item = &'a Point<Real>>,
Creates a new AABB from a set of points.
pub fn center(&self) -> Point<Real>
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The center of this AABB.
pub fn half_extents(&self) -> Vector<Real>
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The half extents of this AABB.
pub fn extents(&self) -> Vector<Real>
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The extents of this AABB.
pub fn take_point(&mut self, pt: Point<Real>)
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Enlarges this AABB so it also contains the point pt
.
pub fn transform_by(&self, m: &Isometry<Real>) -> Self
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Computes the AABB bounding self
transformed by m
.
pub fn bounding_sphere(&self) -> BoundingSphere
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The smallest bounding sphere containing this AABB.
pub fn contains_local_point(&self, point: &Point<Real>) -> bool
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pub fn vertices(&self) -> [Point<Real>; 8]
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Computes the vertices of this AABB.
pub fn split_at_center(&self) -> [AABB; 8]
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Splits this AABB at its center, into height parts (as in an octree).
impl AABB
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pub fn clip_segment(
&self,
pa: &Point<Real>,
pb: &Point<Real>
) -> Option<Segment>
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&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)>
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&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>
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&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)>
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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>
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Computes the intersection segment between a ray and this AABB.
Returns None
if there is no intersection.
impl AABB
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pub fn clip_polygon(&self, points: &mut Vec<Point<Real>>)
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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>>
)
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&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.
impl AABB
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pub fn to_trimesh(&self) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)
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Discretize the boundary of this AABB as a triangle-mesh.
Trait Implementations
impl BoundingVolume for AABB
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fn center(&self) -> Point<Real>
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fn intersects(&self, other: &AABB) -> bool
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fn contains(&self, other: &AABB) -> bool
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fn merge(&mut self, other: &AABB)
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fn merged(&self, other: &AABB) -> AABB
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fn loosen(&mut self, amount: Real)
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fn loosened(&self, amount: Real) -> AABB
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fn tighten(&mut self, amount: Real)
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fn tightened(&self, amount: Real) -> AABB
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impl Clone for AABB
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impl Copy for AABB
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impl Debug for AABB
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impl PartialEq<AABB> for AABB
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impl PointQuery for AABB
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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 RayCast for AABB
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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 StructuralPartialEq for AABB
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Auto Trait Implementations
impl RefUnwindSafe for AABB
impl Send for AABB
impl Sync for AABB
impl Unpin for AABB
impl UnwindSafe for AABB
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>,