Struct rapier3d::geometry::Segment

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#[repr(C)]pub struct Segment {
    pub a: OPoint<f32, Const<3_usize>>,
    pub b: OPoint<f32, Const<3_usize>>,
}

Expand description

A segment shape.

Fields

a: OPoint<f32, Const<3_usize>>

The segment first point.

b: OPoint<f32, Const<3_usize>>

The segment second point.

Implementations

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impl Segment

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pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

Computes the world-space AABB of this segment, transformed by pos.

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pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this segment.

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impl Segment

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pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

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

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this segment.

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impl Segment

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pub fn canonical_split(
 &self,
 axis: usize,
 bias: f32,
 epsilon: f32
) -> SplitResult<Segment>

Splits this segment along the given canonical axis.

This will split the segment by a plane with a normal with it’s axis-th component set to 1. The splitting plane is shifted wrt. the origin by the bias (i.e. it passes through the point equal to normal * bias).

Result

Returns the result of the split. The first shape returned is the piece lying on the negative half-space delimited by the splitting plane. The second shape returned is the piece lying on the positive half-space delimited by the splitting plane.

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pub fn local_split(
 &self,
 local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
 bias: f32,
 epsilon: f32
) -> SplitResult<Segment>

Splits this segment by a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

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pub fn local_split_and_get_intersection(
 &self,
 local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
 bias: f32,
 epsilon: f32
) -> (SplitResult<Segment>, Option<(OPoint<f32, Const<3_usize>>, f32 )>)

Split a segment with a plane.

This returns the result of the splitting operation, as well as the intersection point (and barycentric coordinate of this point) with the plane. The intersection point is None if the plane is parallel or near-parallel to the segment.

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impl Segment

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pub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> Segment

Creates a new segment from two points.

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pub fn from_array(arr: &[OPoint<f32, Const<3_usize>>; 2]) -> &Segment

Creates the reference to a segment from the reference to an array of two points.

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pub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment

Computes a scaled version of this segment.

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pub fn scaled_direction(
&self
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The direction of this segment scaled by its length.

Points from self.a toward self.b.

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pub fn length(&self) -> f32

The length of this segment.

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pub fn swap(&mut self)

Swaps the two vertices of this segment.

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pub fn direction(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The unit direction of this segment.

Points from self.a() toward self.b(). Returns None is both points are equal.

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pub fn scaled_planar_normal(
&self,
plane_axis: u8
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The not-normalized counterclockwise normal of this segment, assuming it lies on the plane with the normal collinear to the given axis (0 = X, 1 = Y, 2 = Z).

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pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

Returns None. Exists only for API similarity with the 2D parry.

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pub fn planar_normal(
&self,
plane_axis: u8
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The normalized counterclockwise normal of this segment, assuming it lies on the plane with the normal collinear to the given axis (0 = X, 1 = Y, 2 = Z).

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pub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Segment

Applies the isometry m to the vertices of this segment and returns the resulting segment.

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pub fn point_at(
&self,
location: &SegmentPointLocation
) -> OPoint<f32, Const<3_usize>>

Computes the point at the given location.

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pub fn feature_normal(
&self,
feature: FeatureId
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The normal of the given feature of this shape.

Trait Implementations

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impl Clone for Segment

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fn clone(&self) -> Segment

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for Segment

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

Formats the value using the given formatter. Read more

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impl From<[OPoint<f32, Const<3_usize>>; 2]> for Segment

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fn from(arr: [OPoint<f32, Const<3_usize>>; 2]) -> Segment

Converts to this type from the input type.

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impl From<Segment> for PolygonalFeature

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fn from(seg: Segment) -> PolygonalFeature

Converts to this type from the input type.

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impl PartialEq<Segment> for Segment

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fn eq(&self, other: &Segment) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &Segment) -> bool

This method tests for !=.

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impl PointQuery for Segment

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fn project_local_point(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> PointProjection

Projects a point on self. Read more

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fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

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

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fn project_local_point_with_max_dist(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool,
 max_dist: f32
) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more

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fn project_point_with_max_dist(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool,
 max_dist: f32
) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

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fn distance_to_local_point(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> f32

Computes the minimal distance between a point and self.

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fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool

Tests if the given point is inside of self.

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fn project_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> PointProjection

Projects a point on self transformed by m.

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fn distance_to_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> f32

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

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fn project_point_and_get_feature(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>
) -> (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. Read more

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fn contains_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>
) -> bool

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

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impl PointQueryWithLocation for Segment

type Location = SegmentPointLocation

Additional shape-specific projection information Read more

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fn project_local_point_and_get_location(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location )

Projects a point on self.

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fn project_point_and_get_location(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> (PointProjection, Self::Location )

Projects a point on self transformed by m.

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impl PolygonalFeatureMap for Segment

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fn local_support_feature(
 &self,
 &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
 out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

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impl RayCast for Segment

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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.

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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.

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

Tests whether a ray intersects this transformed shape.

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fn cast_ray(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32,
 solid: bool
) -> Option<f32>

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

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fn cast_ray_and_get_normal(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32,
 solid: bool
) -> Option<RayIntersection>

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

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fn intersects_ray(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

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impl Shape for Segment

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

Clones this shape into a boxed trait-object.

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fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

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fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the AABB of this shape with the given position.

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

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

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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more

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fn ccd_thickness(&self) -> f32

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fn ccd_angular_thickness(&self) -> f32

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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

Gets the underlying shape as an enum.

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

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

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

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

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fn feature_normal_at_point(
 &self,
 feature: FeatureId,
 _point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

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

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fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

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

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

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fn compute_swept_aabb(
 &self,
 start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position. Read more

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impl SupportMap for Segment

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fn local_support_point(
&self,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

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fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

Same as self.local_support_point except that dir is normalized.

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fn support_point(
 &self,
 transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

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fn support_point_toward(
 &self,
 transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

Same as self.support_point except that dir is normalized.

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impl Copy for Segment

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impl StructuralPartialEq for Segment

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

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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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

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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

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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

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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

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::()

The alignment of pointer.

type Init = T

The type for initializers.

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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Struct rapier3d::geometry::Segment

Fields

Implementations

impl Segment

pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

pub fn local_aabb(&self) -> AABB

impl Segment

pub fn bounding_sphere( &self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> BoundingSphere

pub fn local_bounding_sphere(&self) -> BoundingSphere

impl Segment

pub fn canonical_split( &self, axis: usize, bias: f32, epsilon: f32) -> SplitResult<Segment>

pub fn local_split( &self, local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, bias: f32, epsilon: f32) -> SplitResult<Segment>

pub fn local_split_and_get_intersection( &self, local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, bias: f32, epsilon: f32) -> (SplitResult<Segment>, Option<(OPoint<f32, Const<3_usize>>, f32)>)

impl Segment

pub fn new( a: OPoint<f32, Const<3_usize>>, b: OPoint<f32, Const<3_usize>>) -> Segment

pub fn from_array(arr: &[OPoint<f32, Const<3_usize>>; 2]) -> &Segment

pub fn scaled( self, scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>) -> Segment

pub fn scaled_direction( &self) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn length(&self) -> f32

pub fn swap(&mut self)

pub fn direction( &self) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn scaled_planar_normal( &self, plane_axis: u8) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn normal( &self) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn planar_normal( &self, plane_axis: u8) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn transformed( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> Segment

pub fn point_at( &self, location: &SegmentPointLocation) -> OPoint<f32, Const<3_usize>>

pub fn feature_normal( &self, feature: FeatureId) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

Trait Implementations

impl Clone for Segment

fn clone(&self) -> Segment

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

impl Debug for Segment

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

impl From<[OPoint<f32, Const<3_usize>>; 2]> for Segment

fn from(arr: [OPoint<f32, Const<3_usize>>; 2]) -> Segment

impl From<Segment> for PolygonalFeature

fn from(seg: Segment) -> PolygonalFeature

impl PartialEq<Segment> for Segment

fn eq(&self, other: &Segment) -> bool

fn ne(&self, other: &Segment) -> bool

impl PointQuery for Segment

fn project_local_point( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> PointProjection

fn project_local_point_and_get_feature( &self, pt: &OPoint<f32, Const<3_usize>>) -> (PointProjection, FeatureId)

fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool, max_dist: f32) -> Option<PointProjection>

fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool, max_dist: f32) -> Option<PointProjection>

fn distance_to_local_point( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> f32

fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool

fn project_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> PointProjection

fn distance_to_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> f32

fn project_point_and_get_feature( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>) -> (PointProjection, FeatureId)

fn contains_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>) -> bool

impl PointQueryWithLocation for Segment

type Location = SegmentPointLocation

fn project_local_point_and_get_location( &self, pt: &OPoint<f32, Const<3_usize>>, bool) -> (PointProjection, <Segment as PointQueryWithLocation>::Location)

fn project_point_and_get_location( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> (PointProjection, Self::Location)

impl PolygonalFeatureMap for Segment

fn local_support_feature( &self, &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, out_feature: &mut PolygonalFeature)

impl RayCast for Segment

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

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

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

fn cast_ray( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

fn cast_ray_and_get_normal( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32, solid: bool) -> Option<RayIntersection>

fn intersects_ray( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32) -> bool

impl Shape for Segment

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

fn compute_local_aabb(&self) -> AABB

fn compute_local_bounding_sphere(&self) -> BoundingSphere

fn compute_aabb( &self, position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

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

fn is_convex(&self) -> bool

fn ccd_thickness(&self) -> f32

fn ccd_angular_thickness(&self) -> f32

fn shape_type(&self) -> ShapeType

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

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

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

fn feature_normal_at_point( &self, feature: FeatureId, _point: &OPoint<f32, Const<3_usize>>) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

fn compute_bounding_sphere( &self, position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> BoundingSphere

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

pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

pub fn canonical_split(
&self,
axis: usize,
bias: f32,
epsilon: f32
) -> SplitResult<Segment>

pub fn local_split(
&self,
local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
bias: f32,
epsilon: f32
) -> SplitResult<Segment>

pub fn local_split_and_get_intersection(
&self,
local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
bias: f32,
epsilon: f32
) -> (SplitResult<Segment>, Option<(OPoint<f32, Const<3_usize>>, f32 )>)

pub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> Segment

pub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment

pub fn scaled_direction(
&self
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn direction(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn scaled_planar_normal(
&self,
plane_axis: u8
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn planar_normal(
&self,
plane_axis: u8
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Segment

pub fn point_at(
&self,
location: &SegmentPointLocation
) -> OPoint<f32, Const<3_usize>>

pub fn feature_normal(
&self,
feature: FeatureId
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection

fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>

fn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>

fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32

fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection

fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32

fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> bool

fn project_local_point_and_get_location(
&self,
pt: &OPoint<f32, Const<3_usize>>,
bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location )

fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location )

fn local_support_feature(
&self,
&Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)

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

fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>

fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>

fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool

fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

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

fn feature_normal_at_point(
&self,
feature: FeatureId,
_point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

fn local_support_point(
&self,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

fn support_point_toward(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,