Struct HalfSpace 

pub struct HalfSpace<const D: usize> {
    pub normal: SVector<f64, D>,
    pub offset: f64,
}

D-dimensional half-space: the set of points where normal · p <= offset.

The boundary plane has equation normal · p = offset. normal must be a unit vector.

Fields

normal: SVector<f64, D>

Outward-pointing unit normal of the boundary plane.

offset: f64

Signed distance from the origin to the boundary plane along the normal. Positive = plane is on the positive side of the origin.

Implementations

impl<const D: usize> HalfSpace<D>

pub fn new(normal: SVector<f64, D>, offset: f64) -> Self

Create a half-space from a normal and offset. The normal should be a unit vector (not enforced, but expected).

pub fn ground(axis: usize, height: f64) -> Self

Create a ground plane at the given height along the given axis. Normal points in the positive axis direction (upward for Y-up).

pub fn signed_distance(&self, point: &SVector<f64, D>) -> f64

Signed distance from a point to the boundary plane. Positive = point is on the “outside” (normal side). Negative = point is inside the solid half-space.

pub fn project(&self, point: &SVector<f64, D>) -> SVector<f64, D>

Project a point onto the boundary plane.

pub fn contact_sphere( &self, sphere_center: &SVector<f64, D>, sphere_radius: f64, ) -> Option<(SVector<f64, D>, f64)>

Analytical contact between a sphere and this half-space.

Returns Some((contact_point, depth)) if overlapping, None otherwise. sphere_center is in world space.

pub fn contact_capsule( &self, capsule_pos: &SVector<f64, D>, half_height: f64, radius: f64, axis: usize, ) -> Vec<(SVector<f64, D>, f64)>

Analytical contact between a capsule and this half-space.

Returns contacts for both hemisphere centers (0, 1, or 2 contacts). capsule_pos is the capsule’s world-space center.

pub fn contact_box( &self, box_pos: &SVector<f64, D>, half_extents: &[f64; D], ) -> Vec<(SVector<f64, D>, f64)>

Analytical contact between an axis-aligned box and this half-space.

Returns contacts for all box vertices that penetrate the plane. box_pos is the box’s world-space center.

Trait Implementations

impl<const D: usize> Clone for HalfSpace<D>

fn clone(&self) -> HalfSpace<D>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const D: usize> Debug for HalfSpace<D>

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

Formats the value using the given formatter.

impl<const D: usize> Shape<D> for HalfSpace<D>

fn support(&self, direction: &SVector<f64, D>) -> SVector<f64, D>

Support function for GJK compatibility.

Returns a point at HALFSPACE_EXTENT in the query direction (projected onto the plane) or at -HALFSPACE_EXTENT * normal if direction points into the solid. This is an approximation — use analytical contacts for sphere/capsule/box instead.

fn bounding_sphere(&self) -> (Point<D>, f64)

Bounding sphere: (center, radius).

fn as_any(&self) -> &dyn Any

Downcast to concrete type for specialized collision dispatch.

impl<const D: usize> Copy for HalfSpace<D>