Struct rapier2d::geometry::Capsule

pub struct Capsule {
    pub segment: Segment,
    pub radius: f32,
}

A capsule shape defined as a round segment.

Fields

segment: Segment

The axis and endpoint of the capsule.

radius: f32

The radius of the capsule.

Implementations

impl Capsule

pub fn aabb(&self, pos: &Isometry<f32, U2, Unit<Complex<f32>>>) -> AABB

The axis-aligned bounding box of this capsule.

pub fn local_aabb(&self) -> AABB

The axis-aligned bounding box of this capsule.

impl Capsule

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the world-space bounding sphere of this capsule.

impl Capsule

pub fn new_x(half_height: f32, radius: f32) -> Capsule

Creates a new capsule aligned with the x axis and with the given half-height an radius.

pub fn new_y(half_height: f32, radius: f32) -> Capsule

Creates a new capsule aligned with the y axis and with the given half-height an radius.

pub fn new(a: Point<f32, U2>, b: Point<f32, U2>, radius: f32) -> Capsule

Creates a new capsule defined as the segment between a and b and with the given radius.

pub fn height(&self) -> f32

The height of this capsule.

pub fn half_height(&self) -> f32

The half-height of this capsule.

pub fn center(&self) -> Point<f32, U2>

The center of this capsule.

pub fn transform_by(
    &self,
    pos: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> Capsule

Creates a new capsule equal to self with all its endpoints transformed by pos.

pub fn canonical_transform(&self) -> Isometry<f32, U2, Unit<Complex<f32>>>

The transformation such that t * Y is collinear with b - a and t * origin equals the capsule’s center.

pub fn rotation_wrt_y(&self) -> Unit<Complex<f32>>

The rotation r such that r * Y is collinear with b - a.

pub fn transform_wrt_y(&self) -> Isometry<f32, U2, Unit<Complex<f32>>>

The transform t such that t * Y is collinear with b - a and such that t * origin = (b + a) / 2.0.

impl Capsule

pub fn to_polyline(&self, nsubdiv: u32) -> Vec<Point<f32, U2>, Global>

Discretize the boundary of this capsule as a polygonal line.

Trait Implementations

impl Clone for Capsule

pub fn clone(&self) -> Capsule

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Capsule

impl Debug for Capsule

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

Formats the value using the given formatter.

impl PointQuery for Capsule

pub fn project_local_point(
    &self,
    pt: &Point<f32, U2>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    pt: &Point<f32, U2>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

pub fn distance_to_local_point(&self, pt: &Point<f32, U2>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &Point<f32, U2>) -> bool

Tests if the given point is inside of self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self transformed by m.

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>
) -> (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.

pub fn contains_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>
) -> bool

Tests if the given point is inside of self transformed by m.

impl RayCast for Capsule

pub fn cast_local_ray_and_get_normal(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn cast_local_ray(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Capsule

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

pub fn compute_bounding_sphere(
    &self,
    position: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> BoundingSphere

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

pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U2>
) -> Option<Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>>

The shape’s normal at the given point located on a specific feature.

impl SupportMap for Capsule

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>
) -> Point<f32, U2>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>
) -> Point<f32, U2>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32, U2, Unit<Complex<f32>>>,
    dir: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>
) -> Point<f32, U2>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32, U2, Unit<Complex<f32>>>,
    dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>
) -> Point<f32, U2>

Same as self.support_point except that dir is normalized.