Struct rapier3d::geometry::Segment

#[repr(C)]pub struct Segment {
    pub a: Point<f32, U3>,
    pub b: Point<f32, U3>,
}

A segment shape.

Fields

a: Point<f32, U3>

The segment first point.

b: Point<f32, U3>

The segment second point.

Implementations

impl Segment

pub fn aabb(&self, pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB

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

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this segment.

impl Segment

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this segment.

impl Segment

pub fn new(a: Point<f32, U3>, b: Point<f32, U3>) -> Segment

Creates a new segment from two points.

pub fn from_array(arr: &[Point<f32, U3>; 2]) -> &Segment

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

impl Segment

pub fn scaled_direction(
    &self
) -> Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>

The direction of this segment scaled by its length.

Points from self.a toward self.b.

pub fn length(&self) -> f32

The length of this segment.

pub fn swap(&mut self)

Swaps the two vertices of this segment.

pub fn direction(
    &self
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, 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<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

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

pub fn transformed(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> Segment

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

pub fn point_at(&self, location: &SegmentPointLocation) -> Point<f32, U3>

Computes the point at the given location.

Trait Implementations

impl Clone for Segment

pub fn clone(&self) -> Segment

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Segment

impl Debug for Segment

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

Formats the value using the given formatter.

impl From<[Point<f32, U3>; 2]> for Segment

pub fn from(arr: [Point<f32, U3>; 2]) -> Segment

Performs the conversion.

impl From<Segment> for PolygonalFeature

pub fn from(seg: Segment) -> PolygonalFeature

Performs the conversion.

impl PartialEq<Segment> for Segment

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

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

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

This method tests for !=.

impl PointQuery for Segment

pub fn project_local_point(
    &self,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    pt: &Point<f32, U3>
) -> (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, U3>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &Point<f32, U3>) -> bool

Tests if the given point is inside of self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    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, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> (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, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> bool

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

impl PointQueryWithLocation for Segment

type Location = SegmentPointLocation

Additional shape-specific projection information

pub fn project_local_point_and_get_location(
    &self,
    pt: &Point<f32, U3>,
    bool
) -> (PointProjection, <Segment as PointQueryWithLocation>::Location)

Projects a point on self.

pub fn project_point_and_get_location(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl PolygonalFeatureMap for Segment

pub fn local_support_feature(
    &self,
    &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>,
    out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

impl RayCast for Segment

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, U3, Unit<Quaternion<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, U3, Unit<Quaternion<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, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Segment

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<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 ccd_thickness(&self) -> f32

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U3>
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

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

impl StructuralPartialEq for Segment

impl SupportMap for Segment

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.support_point except that dir is normalized.