Struct ToiProxy 

pub struct ToiProxy<'a> {
    pub radius: f32,
    /* private fields */
}

A point cloud with a radius, approximating a convex shape for sweep-based time-of-impact computations.

Only shapes that decompose exactly into a point cloud plus an inflation radius can be represented (balls, capsules, segments, triangles, cuboids, convex polygons/polyhedra and their round variants). Other shapes (cylinders, cones, half-spaces, composites, custom shapes) return None from ToiProxy::from_shape.

Fields

radius: f32

The inflation radius around the point cloud.

Implementations

impl<'a> ToiProxy<'a>

pub fn point(point: Vector, radius: f32) -> Self

A proxy made of a single point with a radius.

pub fn from_points(points: &'a [Vector], radius: f32) -> Self

A proxy borrowing its point cloud.

pub fn from_array<const N: usize>(points: [Vector; N], radius: f32) -> Self

A proxy from an inline array of points.

pub fn from_shape(shape: &'a dyn Shape) -> Option<Self>

Extracts a proxy from a shape, if the shape decomposes into points + radius.

pub fn points(&self) -> &[Vector]

The proxy’s point cloud.

pub fn support(&self, direction: Vector) -> u32

The index of the proxy point with the greatest projection along direction.

Projections are measured relative to the first point for better accuracy far from the origin.

pub fn compute_aabb(&self, pose: &Pose) -> Aabb

The axis-aligned bounding box of this proxy under the given pose.