Struct rapier3d::geometry::Capsule [−][src]
Expand description
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
[src]
impl Capsule
[src]pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]Computes the world-space bounding sphere of this capsule, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the world-space bounding sphere of this capsule.
impl Capsule
[src]
impl Capsule
[src]pub fn new_x(half_height: f32, radius: f32) -> Capsule
[src]
pub fn new_x(half_height: f32, radius: f32) -> Capsule
[src]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
[src]
pub fn new_y(half_height: f32, radius: f32) -> Capsule
[src]Creates a new capsule aligned with the y
axis and with the given half-height an radius.
pub fn new_z(half_height: f32, radius: f32) -> Capsule
[src]
pub fn new_z(half_height: f32, radius: f32) -> Capsule
[src]Creates a new capsule aligned with the z
axis and with the given half-height an radius.
pub fn new(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> Capsule
[src]
pub fn new(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> Capsule
[src]Creates a new capsule defined as the segment between a
and b
and with the given radius
.
pub fn half_height(&self) -> f32
[src]
pub fn half_height(&self) -> f32
[src]The half-height of this capsule.
pub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
[src]
pub fn transform_by(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Capsule
[src]Creates a new capsule equal to self
with all its endpoints transformed by pos
.
pub fn canonical_transform(
&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
[src]
pub fn canonical_transform(
&self
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
[src]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<Quaternion<f32>>
[src]
pub fn rotation_wrt_y(&self) -> Unit<Quaternion<f32>>
[src]The rotation r
such that r * Y
is collinear with b - a
.
pub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
[src]
pub fn transform_wrt_y(&self) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
[src]The transform t
such that t * Y
is collinear with b - a
and such that t * origin = (b + a) / 2.0
.
Trait Implementations
impl PointQuery for Capsule
[src]
impl PointQuery for Capsule
[src]pub fn project_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]
pub fn project_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]Projects a point on self
. Read more
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
fn distance_to_local_point(&self, pt: &Point<f32, 3_usize>, solid: bool) -> f32
[src]
fn distance_to_local_point(&self, pt: &Point<f32, 3_usize>, solid: bool) -> f32
[src]Computes the minimal distance between a point and self
.
fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
[src]
fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
[src]Tests if the given point is inside of self
.
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]Projects a point on self
transformed by m
.
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]Computes the minimal distance between a point and self
transformed by m
.
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]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
fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
[src]
fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
[src]Tests if the given point is inside of self
transformed by m
.
impl RayCast for Capsule
[src]
impl RayCast for Capsule
[src]pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
[src]
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
[src]Computes the time of impact, and normal between this transformed shape and a ray.
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
[src]
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
[src]Computes the time of impact between this transform shape and a ray.
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
[src]
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
[src]Tests whether a ray intersects this transformed shape.
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
[src]
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
[src]Computes the time of impact between this transform shape and a ray.
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
[src]
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
[src]Computes the time of impact, and normal between this transformed shape and a ray.
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
[src]
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
[src]Tests whether a ray intersects this transformed shape.
impl Shape for Capsule
[src]
impl Shape for Capsule
[src]pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
[src]
pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
[src]Clones this shape into a boxed trait-object.
pub fn compute_local_aabb(&self) -> AABB
[src]
pub fn compute_local_aabb(&self) -> AABB
[src]Computes the AABB of this shape.
pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
[src]
pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the bounding-sphere of this shape.
pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]
pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]Computes the AABB of this shape with the given position.
pub fn mass_properties(&self, density: f32) -> MassProperties
[src]
pub fn mass_properties(&self, density: f32) -> MassProperties
[src]Compute the mass-properties of this shape given its uniform density.
pub fn shape_type(&self) -> ShapeType
[src]
pub fn shape_type(&self) -> ShapeType
[src]Gets the type tag of this shape.
pub fn as_typed_shape(&self) -> TypedShape<'_>
[src]
pub fn as_typed_shape(&self) -> TypedShape<'_>
[src]Gets the underlying shape as an enum.
pub fn ccd_thickness(&self) -> f32
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pub fn ccd_angular_thickness(&self) -> f32
[src]
pub fn as_support_map(&self) -> Option<&dyn SupportMap>
[src]
pub fn as_support_map(&self) -> Option<&dyn SupportMap>
[src]Convents this shape into its support mapping, if it has one.
pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
[src]
pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
[src]Converts this shape to a polygonal feature-map, if it is one.
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
[src]
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]The shape’s normal at the given point located on a specific feature.
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]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
impl SupportMap for Capsule
[src]
impl SupportMap for Capsule
[src]pub fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
[src]
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
pub fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
[src]
pub fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
[src]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<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
[src]
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
impl Copy for Capsule
[src]
Auto Trait Implementations
impl RefUnwindSafe for Capsule
impl Send for Capsule
impl Sync for Capsule
impl Unpin for Capsule
impl UnwindSafe for Capsule
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
[src]
impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]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
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]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
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]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
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
[src]
pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
[src]
pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
[src]
pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
[src]
pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
[src]
impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more