Expand description
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
sourceimpl Capsule
impl Capsule
sourcepub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
Computes the world-space bounding sphere of this capsule, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the world-space bounding sphere of this capsule.
sourceimpl Capsule
impl Capsule
sourcepub fn new_x(half_height: Real, radius: Real) -> Self
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.
sourcepub fn new_y(half_height: Real, radius: Real) -> Self
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.
sourcepub fn new_z(half_height: Real, radius: Real) -> Self
pub fn new_z(half_height: Real, radius: Real) -> Self
Creates a new capsule aligned with the z
axis and with the given half-height an radius.
sourcepub fn new(a: Point<Real>, b: Point<Real>, radius: Real) -> Self
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
.
sourcepub fn half_height(&self) -> Real
pub fn half_height(&self) -> Real
The half-height of this capsule.
sourcepub fn transform_by(&self, pos: &Isometry<Real>) -> Self
pub fn transform_by(&self, pos: &Isometry<Real>) -> Self
Creates a new capsule equal to self
with all its endpoints transformed by pos
.
sourcepub fn canonical_transform(&self) -> Isometry<Real>
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.
sourcepub fn rotation_wrt_y(&self) -> Rotation<Real>
pub fn rotation_wrt_y(&self) -> Rotation<Real>
The rotation r
such that r * Y
is collinear with b - a
.
sourcepub fn transform_wrt_y(&self) -> Isometry<Real>
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
.
sourcepub fn scaled(
self,
scale: &Vector<Real>,
nsubdivs: u32
) -> Option<Either<Self, ConvexPolyhedron>>
pub fn scaled(
self,
scale: &Vector<Real>,
nsubdivs: u32
) -> Option<Either<Self, ConvexPolyhedron>>
Computes a scaled version of this capsule.
If the scaling factor is non-uniform, then it can’t be represented as
capsule. Instead, a convex polygon approximation (with nsubdivs
subdivisions) is returned. Returns None
if that approximation had degenerate
normals (for example if the scaling factor along one axis is zero).
Trait Implementations
sourceimpl PointQuery for Capsule
impl PointQuery for Capsule
sourcefn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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. Read more
sourcefn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
Projects a point on self
, unless the projection lies further than the given max distance. Read more
sourcefn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
Projects a point on self
transformed by m
, unless the projection lies further than the given max distance.
sourcefn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &Point<Real>) -> bool
fn contains_local_point(&self, pt: &Point<Real>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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
.
sourceimpl RayCast for Capsule
impl RayCast for Capsule
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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.
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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.
sourceimpl Shape for Capsule
impl Shape for Capsule
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
Computes the AABB of this shape.
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
Computes the bounding-sphere of this shape.
sourcefn compute_aabb(&self, position: &Isometry<Real>) -> AABB
fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, density: Real) -> MassProperties
fn mass_properties(&self, density: Real) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
Gets the type tag of this shape.
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
Gets the underlying shape as an enum.
fn ccd_thickness(&self) -> Real
fn ccd_angular_thickness(&self) -> Real
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
Convents this shape into its support mapping, if it has one.
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
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>
sourceimpl SupportMap for Capsule
impl SupportMap for Capsule
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>
sourcefn local_support_point_toward(&self, dir: &Unit<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>
impl Copy for Capsule
Auto Trait Implementations
impl RefUnwindSafe for Capsule
impl Send for Capsule
impl Sync for Capsule
impl Unpin for Capsule
impl UnwindSafe for Capsule
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more