Struct rapier3d_f64::geometry::Segment [−][src]
A segment shape.
Fields
a: Point<f64, U3>
The segment first point.
b: Point<f64, U3>
The segment second point.
Implementations
impl Segment
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pub fn aabb(&self, pos: &Isometry<f64, U3, Unit<Quaternion<f64>>>) -> AABB
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Computes the world-space AABB of this segment, transformed by pos
.
pub fn local_aabb(&self) -> AABB
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Computes the local-space AABB of this segment.
impl Segment
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pub fn bounding_sphere(
&self,
pos: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> BoundingSphere
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&self,
pos: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> BoundingSphere
Computes the world-space bounding sphere of this segment, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the local-space bounding sphere of this segment.
impl Segment
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pub fn new(a: Point<f64, U3>, b: Point<f64, U3>) -> Segment
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Creates a new segment from two points.
pub fn from_array(arr: &[Point<f64, U3>; 2]) -> &Segment
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Creates the reference to a segment from the reference to an array of two points.
impl Segment
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pub fn scaled_direction(
&self
) -> Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
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&self
) -> Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
The direction of this segment scaled by its length.
Points from self.a
toward self.b
.
pub fn length(&self) -> f64
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The length of this segment.
pub fn swap(&mut self)
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Swaps the two vertices of this segment.
pub fn direction(
&self
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
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&self
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
The unit direction of this segment.
Points from self.a()
toward self.b()
.
Returns None
is both points are equal.
pub fn normal(
&self
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
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&self
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
Returns None
. Exists only for API similarity with the 2D parry.
pub fn transformed(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> Segment
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> Segment
Applies the isometry m
to the vertices of this segment and returns the resulting segment.
pub fn point_at(&self, location: &SegmentPointLocation) -> Point<f64, U3>
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Computes the point at the given location.
Trait Implementations
impl Clone for Segment
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impl Copy for Segment
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impl Debug for Segment
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impl From<[Point<f64, U3>; 2]> for Segment
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impl From<Segment> for PolygonalFeature
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pub fn from(seg: Segment) -> PolygonalFeature
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impl PartialEq<Segment> for Segment
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impl PointQuery for Segment
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pub fn project_local_point(
&self,
pt: &Point<f64, U3>,
solid: bool
) -> PointProjection
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&self,
pt: &Point<f64, U3>,
solid: bool
) -> PointProjection
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f64, U3>
) -> (PointProjection, FeatureId)
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&self,
pt: &Point<f64, U3>
) -> (PointProjection, FeatureId)
pub fn distance_to_local_point(&self, pt: &Point<f64, U3>, solid: bool) -> f64
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pub fn contains_local_point(&self, pt: &Point<f64, U3>) -> bool
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pub fn project_point(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> PointProjection
pub fn distance_to_point(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> f64
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> f64
pub fn project_point_and_get_feature(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>
) -> (PointProjection, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>
) -> bool
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>
) -> bool
impl PointQueryWithLocation for Segment
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type Location = SegmentPointLocation
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
pt: &Point<f64, U3>,
bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location)
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&self,
pt: &Point<f64, U3>,
bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location)
pub fn project_point_and_get_location(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> (PointProjection, Self::Location)
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
pt: &Point<f64, U3>,
solid: bool
) -> (PointProjection, Self::Location)
impl PolygonalFeatureMap for Segment
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pub fn local_support_feature(
&self,
&Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>,
out_feature: &mut PolygonalFeature
)
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&self,
&Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>,
out_feature: &mut PolygonalFeature
)
impl RayCast for Segment
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pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<f64>
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&self,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<f64>
pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f64) -> bool
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pub fn cast_ray(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<f64>
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<f64>
pub fn cast_ray_and_get_normal(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_ray(
&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64
) -> bool
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&self,
m: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
ray: &Ray,
max_toi: f64
) -> bool
impl Shape for Segment
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pub fn compute_local_aabb(&self) -> AABB
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pub fn compute_aabb(
&self,
position: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> AABB
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&self,
position: &Isometry<f64, U3, Unit<Quaternion<f64>>>
) -> AABB
pub fn mass_properties(&self, _density: f64) -> MassProperties
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pub fn is_convex(&self) -> bool
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pub fn ccd_thickness(&self) -> f64
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pub fn shape_type(&self) -> ShapeType
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pub fn as_typed_shape(&self) -> TypedShape<'_>
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pub fn as_support_map(&self) -> Option<&dyn SupportMap>
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pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f64)>
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&self
) -> Option<(&dyn PolygonalFeatureMap, f64)>
pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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pub fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f64, U3>
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
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&self,
_feature: FeatureId,
_point: &Point<f64, U3>
) -> Option<Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>>
impl StructuralPartialEq for Segment
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impl SupportMap for Segment
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pub fn local_support_point(
&self,
dir: &Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
) -> Point<f64, U3>
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&self,
dir: &Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
) -> Point<f64, U3>
pub fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Point<f64, U3>
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&self,
dir: &Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Point<f64, U3>
pub fn support_point(
&self,
transform: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
dir: &Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
) -> Point<f64, U3>
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&self,
transform: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
dir: &Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>
) -> Point<f64, U3>
pub fn support_point_toward(
&self,
transform: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
dir: &Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Point<f64, U3>
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&self,
transform: &Isometry<f64, U3, Unit<Quaternion<f64>>>,
dir: &Unit<Matrix<f64, U3, U1, <DefaultAllocator as Allocator<f64, U3, U1>>::Buffer>>
) -> Point<f64, U3>
Auto Trait Implementations
impl RefUnwindSafe for Segment
impl Send for Segment
impl Sync for Segment
impl Unpin for Segment
impl UnwindSafe for Segment
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: Send + Sync + Any,
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T: Send + Sync + Any,
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> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
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>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,