Struct ArrayConvexPolytope 

pub struct ArrayConvexPolytope<const P: usize, const V: usize> {
    pub planes: [(Vec3, f32); P],
    pub vertices: [Vec3; V],
    pub obb: Cuboid,
}

A convex polytope defined by half-planes and vertices, using const generics so it can be constructed and stored in const / static contexts.

P is the number of half-planes, V is the number of vertices.

This is mostly meant for usage with codegen where you statically define obstacles based on some sort of file at build time, and want to be able to use them in const contexts.

Fields

planes: [(Vec3, f32); P]

vertices: [Vec3; V]

obb: Cuboid

Implementations

impl<const P: usize, const V: usize> ArrayConvexPolytope<P, V>

pub const fn new( planes: [(Vec3, f32); P], vertices: [Vec3; V], obb: Cuboid, ) -> Self

Create a new const convex polytope. This is a const fn so it can be used in const and static initializers.

impl<const P: usize, const V: usize> ArrayConvexPolytope<P, V>

pub fn scale(&mut self, factor: f32)

See Scalable::scale

impl<const P: usize, const V: usize> ArrayConvexPolytope<P, V>

pub fn translate(&mut self, offset: Vec3A)

See Transformable::translate

pub fn rotate_mat(&mut self, mat: Mat3A)

See Transformable::rotate_mat

pub fn rotate_quat(&mut self, quat: Quat)

See Transformable::rotate_quat

pub fn transform(&mut self, mat: Affine3A)

See Transformable::transform

Trait Implementations

impl<const P: usize, const V: usize> Clone for ArrayConvexPolytope<P, V>

fn clone(&self) -> ArrayConvexPolytope<P, V>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const P: usize, const V: usize, PCL: PointCloudMarker> ColliderComponent<PCL> for ArrayConvexPolytope<P, V>

fn add_to_shapes(self, c: &mut Collider<PCL>)

impl<const V: usize, const P: usize, const PV: usize> Collides<ArrayConvexPolygon<V>> for ArrayConvexPolytope<P, PV>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const V: usize, const P: usize, const PV: usize> Collides<ArrayConvexPolytope<P, PV>> for ArrayConvexPolygon<V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Capsule

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for ConvexPolygon

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for ConvexPolytope

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Cuboid

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Line

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for LineSegment

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Plane

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Pointcloud

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Ray

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ArrayConvexPolytope<P, V>> for Sphere

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize, const P2: usize, const V2: usize> Collides<ArrayConvexPolytope<P2, V2>> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Capsule> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ConvexPolygon> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<ConvexPolytope> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Cuboid> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Line> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<LineSegment> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<NoPcl> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Plane> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Pointcloud> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Ray> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Collides<Sphere> for ArrayConvexPolytope<P, V>

fn collides(&self, other: &T) -> bool

Collision test (broadphase + narrowphase).

impl<const P: usize, const V: usize> Debug for ArrayConvexPolytope<P, V>

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

Formats the value using the given formatter.

impl<const P: usize, const V: usize> Display for ArrayConvexPolytope<P, V>

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

Formats the value using the given formatter.

impl<const P: usize, const V: usize> From<ArrayConvexPolytope<P, V>> for ConvexPolytope

fn from(polytope: ArrayConvexPolytope<P, V>) -> Self

Converts to this type from the input type.

impl<const P: usize, const V: usize> Scalable for ArrayConvexPolytope<P, V>

fn scale(&mut self, factor: f32)

Scales the shape by the given factor, in-place.

fn scaled(self, factor: f32) -> Self

Returns a scaled copy of the shape.

fn scale_d(&mut self, factor: f64)

fn scaled_d(self, factor: f64) -> Self

impl<const P: usize, const V: usize> Stretchable for ArrayConvexPolytope<P, V>

type Output = ConvexPolytope

fn stretch(&self, translation: Vec3) -> Self::Output

fn stretch_d(&self, translation: DVec3) -> Self::Output

impl<const P: usize, const V: usize> Transformable for ArrayConvexPolytope<P, V>

fn translate(&mut self, offset: Vec3A)

fn rotate_mat(&mut self, mat: Mat3A)

fn rotate_quat(&mut self, quat: Quat)

fn transform(&mut self, mat: Affine3A)

fn translated(self, offset: Vec3A) -> Self

fn translate_d(&mut self, offset: DVec3)

fn translated_d(self, offset: DVec3) -> Self

fn rotated_mat(self, mat: Mat3A) -> Self

fn rotate_mat_d(&mut self, mat: DMat3)

fn rotated_mat_d(self, mat: DMat3) -> Self

fn rotated_quat(self, quat: Quat) -> Self

fn rotate_quat_d(&mut self, quat: DQuat)

fn rotated_quat_d(self, quat: DQuat) -> Self

fn transformed(self, mat: Affine3A) -> Self

fn transform_d(&mut self, mat: DAffine3)

fn transformed_d(self, mat: DAffine3) -> Self

impl<const P: usize, const V: usize> Copy for ArrayConvexPolytope<P, V>