Struct rapier3d::geometry::Cuboid [−][src]
pub struct Cuboid { pub half_extents: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, }
Expand description
Shape of a box.
Fields
half_extents: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The half-extents of the cuboid.
Implementations
impl Cuboid
[src]
impl Cuboid
[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 cuboid, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the local-space bounding sphere of this cuboid.
impl Cuboid
[src]
impl Cuboid
[src]pub fn new(
half_extents: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Cuboid
[src]
pub fn new(
half_extents: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Cuboid
[src]Creates a new box from its half-extents. Half-extents are the box half-width along each axis. Each half-extent must be positive.
pub fn support_feature(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
[src]
pub fn support_feature(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
[src]Return the face of this cuboid with a normal that maximizes
the dot product with local_dir
.
pub fn local_support_edge_segment(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
[src]
pub fn local_support_edge_segment(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
[src]Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
pub fn support_face(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
[src]
pub fn support_face(
&self,
local_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
[src]Computes the face with a normal that maximizes the dot-product with local_dir
.
Trait Implementations
impl PointQuery for Cuboid
[src]
impl PointQuery for Cuboid
[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
pub fn distance_to_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]
pub fn distance_to_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]Computes the minimal distance between a point and self
.
pub fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
[src]
pub 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 PolygonalFeatureMap for Cuboid
[src]
impl PolygonalFeatureMap for Cuboid
[src]pub fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
[src]
pub fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
[src]Compute the support polygonal face of self
towards the dir
.
impl RayCast for Cuboid
[src]
impl RayCast for Cuboid
[src]pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
[src]
pub 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.
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 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 Cuboid
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impl Shape for Cuboid
[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
[src]
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 Cuboid
[src]
impl SupportMap for Cuboid
[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>
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]
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 Cuboid
[src]
impl StructuralPartialEq for Cuboid
[src]
Auto Trait Implementations
impl RefUnwindSafe for Cuboid
impl Send for Cuboid
impl Sync for Cuboid
impl Unpin for Cuboid
impl UnwindSafe for Cuboid
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