Struct Cone

#[repr(C)]
pub struct Cone {
    pub half_height: f32,
    pub radius: f32,
}

A 3D cone shape with apex pointing upward along the Y axis.

A cone is a shape that tapers from a circular base to a point (apex). In Parry, cones are always aligned with the Y axis, with the base at y = -half_height and the apex at y = +half_height.

Structure

• Axis: Always aligned with Y axis (apex points up)
• Base: Circular base at y = -half_height with the given radius
• Apex: Point at y = +half_height
• Total height: 2 * half_height

Properties

• 3D only: Only available with the dim3 feature
• Convex: Yes, cones are convex shapes
• Apex: Sharp point at the top
• Flat base: Circular base (not rounded)
• Sharp edge: Rim where cone surface meets the base

Coordinate System

The cone is centered at the origin with:

• Base center at (0, -half_height, 0)
• Apex at (0, half_height, 0)
• Circular base in the XZ plane

Use Cases

• Projectile nose cones
• Traffic cones and markers
• Funnel shapes
• Spotlight or vision cone representations
• Conical collision bounds

Example

use parry3d::shape::Cone;

// Create a cone: base radius 3.0, total height 8.0
let cone = Cone::new(4.0, 3.0);

assert_eq!(cone.half_height, 4.0);
assert_eq!(cone.radius, 3.0);

// The cone:
// - Base at y = -4.0 with radius 3.0
// - Apex at y = +4.0 (sharp point)
// - Total height = 8.0

Fields

half_height: f32

Half the total height of the cone.

The cone extends from y = -half_height (base center) to y = +half_height (apex). Must be positive.

radius: f32

The radius of the circular base.

The base is a circle in the XZ plane at y = -half_height. Must be positive.

Implementations

impl Cone

pub fn aabb(&self, pos: &Isometry<f32>) -> Aabb

Computes the world-space Aabb of this cone, transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this cone.

impl Cone

pub fn bounding_sphere(&self, pos: &Isometry<f32>) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this cone.

impl Cone

pub fn new(half_height: f32, radius: f32) -> Cone

Creates a new cone with apex pointing upward along the Y axis.

Arguments

• half_height - Half the total height (apex to base center distance / 2)
• radius - The radius of the circular base

Example

use parry3d::shape::Cone;

// Create a cone with height 6.0 and base radius 2.0
let cone = Cone::new(3.0, 2.0);

assert_eq!(cone.half_height, 3.0);
assert_eq!(cone.radius, 2.0);

// The cone structure:
// - Apex at (0, 3, 0)  - the top point
// - Base center at (0, -3, 0)
// - Base radius 2.0 in the XZ plane
// - Total height from apex to base = 6.0

pub fn scaled( self, scale: &Vector<f32>, nsubdivs: u32, ) -> Option<Either<Self, ConvexPolyhedron>>

Computes a scaled version of this cone.

If the scaling factor is non-uniform, then it can’t be represented as cone. Instead, a convex polyhedral 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 Cone

pub fn to_outline(&self, nsubdiv: u32) -> (Vec<Point3<f32>>, Vec<[u32; 2]>)

Outlines this cone’s shape using polylines.

impl Cone

pub fn to_trimesh(&self, nsubdiv: u32) -> (Vec<Point3<f32>>, Vec<[u32; 3]>)

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

Trait Implementations

impl Clone for Cone

fn clone(&self) -> Cone

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Cone

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

Formats the value using the given formatter.

impl PartialEq for Cone

fn eq(&self, other: &Cone) -> 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 PointQuery for Cone

fn project_local_point(&self, pt: &Point<f32>, solid: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, pt: &Point<f32>, ) -> (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<f32>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point onto the shape, with a maximum distance limit.

fn project_point_with_max_dist( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, max_dist: f32, ) -> 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<f32>, solid: bool) -> f32

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<f32>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, ) -> f32

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

fn project_point_and_get_feature( &self, m: &Isometry<f32>, pt: &Point<f32>, ) -> (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<f32>, pt: &Point<f32>) -> bool

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

impl PolygonalFeatureMap for Cone

fn local_support_feature( &self, dir: &Unit<Vector<f32>>, out_features: &mut PolygonalFeature, )

Compute the support polygonal face of self towards the dir.

fn is_convex_polyhedron(&self) -> bool

Is this shape a ConvexPolyhedron?

impl RayCast for Cone

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: f32, 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: f32, solid: bool, ) -> Option<f32>

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

fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: f32) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<f32>, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

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

fn cast_ray_and_get_normal( &self, m: &Isometry<f32>, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<RayIntersection>

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

fn intersects_ray( &self, m: &Isometry<f32>, ray: &Ray, max_time_of_impact: f32, ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Cone

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Vector<f32>, num_subdivisions: u32, ) -> Option<Box<dyn Shape>>

Scales this shape by scale 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<f32>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: f32) -> 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) -> f32

fn ccd_angular_thickness(&self) -> f32

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

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

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

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

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

👎Deprecated: renamed to clone_dyn

Clones this shape into a boxed trait-object.

fn compute_bounding_sphere(&self, position: &Isometry<f32>) -> BoundingSphere

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

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

fn feature_normal_at_point( &self, _feature: FeatureId, _point: &Point<f32>, ) -> Option<Unit<Vector<f32>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32>, end_pos: &Isometry<f32>, ) -> 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 Cone

fn local_support_point(&self, dir: &Vector<f32>) -> Point<f32>

Evaluates the support function of this shape in local space.

fn local_support_point_toward(&self, dir: &Unit<Vector<f32>>) -> Point<f32>

Same as local_support_point except that dir is guaranteed to be normalized (unit length).

fn support_point( &self, transform: &Isometry<f32>, dir: &Vector<f32>, ) -> Point<f32>

Evaluates the support function of this shape transformed by transform.

fn support_point_toward( &self, transform: &Isometry<f32>, dir: &Unit<Vector<f32>>, ) -> Point<f32>

Same as support_point except that dir is guaranteed to be normalized (unit length).

impl Copy for Cone

impl StructuralPartialEq for Cone