#[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
sourceimpl Segment
impl Segment
sourcepub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
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
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this segment.
sourceimpl Segment
impl Segment
sourcepub fn canonical_split(
&self,
axis: usize,
bias: f32,
epsilon: f32
) -> SplitResult<Segment>
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.
sourcepub 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(
&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
).
sourcepub 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 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.
sourceimpl Segment
impl Segment
sourcepub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> Segment
pub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>
) -> Segment
Creates a new segment from two points.
sourcepub fn from_array(arr: &[OPoint<f32, Const<3_usize>>; 2]) -> &Segment
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.
sourcepub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
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.
sourcepub fn scaled_direction(
&self
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
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
.
sourcepub fn direction(
&self
) -> Option<Unit<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>>>>
The unit direction of this segment.
Points from self.a()
toward self.b()
.
Returns None
is both points are equal.
sourcepub fn scaled_planar_normal(
&self,
plane_axis: u8
) -> 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>>
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).
sourcepub fn normal(
&self
) -> Option<Unit<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>>>>
Returns None
. Exists only for API similarity with the 2D parry.
sourcepub 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 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).
sourcepub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Segment
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.
Trait Implementations
sourceimpl From<Segment> for PolygonalFeature
impl From<Segment> for PolygonalFeature
sourcefn from(seg: Segment) -> PolygonalFeature
fn from(seg: Segment) -> PolygonalFeature
Converts to this type from the input type.
sourceimpl PointQuery for Segment
impl PointQuery for Segment
sourcefn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
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
sourcefn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
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
sourcefn 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 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.
sourcefn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
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
.
sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
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
.
sourcefn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
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
sourceimpl PointQueryWithLocation for Segment
impl PointQueryWithLocation for Segment
type Location = SegmentPointLocation
type Location = SegmentPointLocation
Additional shape-specific projection information Read more
sourcefn project_local_point_and_get_location(
&self,
pt: &OPoint<f32, Const<3_usize>>,
bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location)
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
.
sourcefn 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 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
.
sourceimpl PolygonalFeatureMap for Segment
impl PolygonalFeatureMap for Segment
sourcefn local_support_feature(
&self,
&Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
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
.
sourceimpl RayCast for Segment
impl RayCast for Segment
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
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.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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.
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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.
sourcefn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
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.
sourceimpl Shape for Segment
impl Shape for Segment
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
Clones this shape into a boxed trait-object.
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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, _density: f32) -> MassProperties
fn mass_properties(&self, _density: f32) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
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.
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, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn 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 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.
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
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.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
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
sourceimpl SupportMap for Segment
impl SupportMap for Segment
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>>
sourcefn 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 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.
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>>
impl Copy for Segment
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
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,
impl<T> Pointable for T
impl<T> Pointable for T
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