Struct parry3d::shape::Capsule

#[repr(C)]
pub struct Capsule {
    pub segment: Segment,
    pub radius: Real,
}

A capsule shape defined as a round segment.

Fields

segment: Segment

The endpoints of the capsule’s principal axis.

radius: Real

The radius of the capsule.

Implementations

impl Capsule

pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb

The axis-aligned bounding box of this capsule.

pub fn local_aabb(&self) -> Aabb

The axis-aligned bounding box of this capsule.

impl Capsule

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

Computes the world-space bounding sphere of this capsule, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the world-space bounding sphere of this capsule.

impl Capsule

pub fn new_x(half_height: Real, radius: Real) -> Self

Creates a new capsule aligned with the x axis and with the given half-height an radius.

pub fn new_y(half_height: Real, radius: Real) -> Self

Creates a new capsule aligned with the y axis and with the given half-height an radius.

pub fn new_z(half_height: Real, radius: Real) -> Self

Creates a new capsule aligned with the z axis and with the given half-height an radius.

pub fn new(a: Point<Real>, b: Point<Real>, radius: Real) -> Self

Creates a new capsule defined as the segment between a and b and with the given radius.

pub fn height(&self) -> Real

The height of this capsule.

pub fn half_height(&self) -> Real

The half-height of this capsule.

pub fn center(&self) -> Point<Real>

The center of this capsule.

pub fn transform_by(&self, pos: &Isometry<Real>) -> Self

Creates a new capsule equal to self with all its endpoints transformed by pos.

pub fn canonical_transform(&self) -> Isometry<Real>

The transformation such that t * Y is collinear with b - a and t * origin equals the capsule’s center.

pub fn rotation_wrt_y(&self) -> Rotation<Real>

The rotation r such that r * Y is collinear with b - a.

pub fn transform_wrt_y(&self) -> Isometry<Real>

The transform t such that t * Y is collinear with b - a and such that t * origin = (b + a) / 2.0.

pub fn scaled( self, scale: &Vector<Real>, nsubdivs: u32 ) -> Option<Either<Self, ConvexPolyhedron>>

Computes a scaled version of this capsule.

If the scaling factor is non-uniform, then it can’t be represented as capsule. Instead, a convex polygon approximation (with nsubdivs subdivisions) is returned. Returns None if that approximation had degenerate normals (for example if the scaling factor along one axis is zero).

impl Capsule

pub fn to_outline(&self, nsubdiv: u32) -> (Vec<Point3<Real>>, Vec<[u32; 2]>)

Outlines this capsule’s shape using polylines.

impl Capsule

pub fn to_trimesh( &self, ntheta_subdiv: u32, nphi_subdiv: u32 ) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)

Discretize the boundary of this capsule as a triangle-mesh.

Trait Implementations

impl Clone for Capsule

fn clone(&self) -> Capsule

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Capsule

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

Formats the value using the given formatter.

impl PointQuery for Capsule

fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, pt: &Point<Real> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real

Computes the minimal distance between a point and self transformed by m.

fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.

impl RayCast for Capsule

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: Real) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn intersects_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Capsule

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn feature_normal_at_point( &self, _feature: FeatureId, _point: &Point<Real> ) -> Option<Unit<Vector<Real>>>

The shape’s normal at the given point located on a specific feature.

fn compute_swept_aabb( &self, start_pos: &Isometry<Real>, end_pos: &Isometry<Real> ) -> Aabb

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.

impl SupportMap for Capsule

fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<Real>, dir: &Vector<Real> ) -> Point<Real>

fn support_point_toward( &self, transform: &Isometry<Real>, dir: &Unit<Vector<Real>> ) -> Point<Real>

Same as self.support_point except that dir is normalized.

impl Copy for Capsule