Enum Geometry 

pub enum Geometry {
    Sphere {
        radius: f64,
    },
    Capsule {
        radius: f64,
        length: f64,
    },
    Box {
        half_extents: Vec3,
    },
    Cylinder {
        radius: f64,
        height: f64,
    },
    Mesh {
        vertices: Vec<Vec3>,
        faces: Vec<[usize; 3]>,
    },
    Plane {
        normal: Vec3,
    },
}

Collision geometry types.

Variants

Sphere

Sphere with given radius.

Fields

radius: f64

Ball radius, in metres.

Capsule

Capsule: cylinder with hemispheres at ends.

Fields

radius: f64

Radius of the swept sphere, in metres.

length: f64

Distance between the two cap centres, in metres.

Box

Box with half-extents (width/2, height/2, depth/2).

Fields

half_extents: Vec3

Half-extent along each local axis, in metres.

Cylinder

Cylinder along Z axis.

Fields

radius: f64

Cylinder radius, in metres.

height: f64

Cylinder height along Z, in metres.

Mesh

Convex mesh (vertices only; convex hull assumed).

Fields

vertices: Vec<Vec3>

Vertex positions in the body frame.

faces: Vec<[usize; 3]>

Triangles, as triples of indices into vertices.

Plane

Infinite plane with outward normal.

Fields

normal: Vec3

Outward unit normal of the half-space, in the body frame.

Implementations

impl Geometry

pub fn support(&self, dir: &Vec3, pos: &Vec3, rot: &Mat3) -> Vec3

Support function: point on surface farthest in direction dir.

Trait Implementations

impl Clone for Geometry

fn clone(&self) -> Geometry

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Geometry

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

Formats the value using the given formatter.