Struct Sweep 

pub struct Sweep {
    pub local_center: Vector,
    pub c1: Vector,
    pub c2: Vector,
    pub q1: Rotation,
    pub q2: Rotation,
}

Describes the motion of a rigid body over a timestep as linear interpolation between two endpoint poses: the center of mass moves on a straight line while the rotation is interpolated with a normalized lerp (nlerp).

This is a common motion model for continuous collision detection. It is exact at both endpoints and a good approximation in between as long as the rotation delta stays below ~45°.

Fields

local_center: Vector

The center of mass expressed in the shape’s local frame.

c1: Vector

The world-space center of mass at the start of the sweep.

c2: Vector

The world-space center of mass at the end of the sweep.

q1: Rotation

The rotation at the start of the sweep.

q2: Rotation

The rotation at the end of the sweep.

Implementations

impl Sweep

pub fn from_poses(start: &Pose, end: &Pose, local_center: Vector) -> Self

Builds a sweep from the start and end poses of a shape’s local frame.

pub fn constant(pose: &Pose, local_center: Vector) -> Self

A degenerate sweep holding the shape stationary at the given pose.

pub fn transform_at(&self, t: f32) -> Pose

The pose of the shape’s local frame at time t ∈ [0, 1].

The center of mass is lerped, the rotation is nlerped, and the local-frame origin is recovered by un-shifting the local center.

pub fn final_transform(&self) -> Pose

The pose of the shape’s local frame at the end of the sweep (t = 1), computed exactly.

pub fn shifted(&self, origin: Vector) -> Self

Translates the entire sweep by -origin.

Used to re-center the time-of-impact computation for better floating-point accuracy.

Trait Implementations

impl Clone for Sweep

fn clone(&self) -> Sweep

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Sweep

impl Debug for Sweep

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

Formats the value using the given formatter.

impl PartialEq for Sweep

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for Sweep