Struct parry3d::shape::Cuboid

#[repr(C)]
pub struct Cuboid {
    pub half_extents: Vector<Real>,
}

Shape of a box.

Fields

half_extents: Vector<Real>

The half-extents of the cuboid.

Implementations

impl Cuboid

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

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

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this cuboid.

impl Cuboid

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this cuboid.

impl Cuboid

pub fn new(half_extents: Vector<Real>) -> Cuboid

Creates a new box from its half-extents. Half-extents are the box half-width along each axis. Each half-extent must be positive.

pub fn scaled(self, scale: &Vector<Real>) -> Self

Computes a scaled version of this cuboid.

pub fn support_feature(&self, local_dir: Vector<Real>) -> PolygonalFeature

Return the face of this cuboid with a normal that maximizes the dot product with local_dir.

pub fn local_support_edge_segment(&self, local_dir: Vector<Real>) -> Segment

Return the edge segment of this cuboid with a normal cone containing a direction that that maximizes the dot product with local_dir.

pub fn support_face(&self, local_dir: Vector<Real>) -> PolygonalFeature

Computes the face with a normal that maximizes the dot-product with local_dir.

pub fn feature_normal(&self, feature: FeatureId) -> Option<Unit<Vector<Real>>>

The normal of the given feature of this shape.

impl Cuboid

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

Outlines this cuboid’s shape using polylines.

impl Cuboid

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

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

Trait Implementations

impl Clone for Cuboid

fn clone(&self) -> Cuboid

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Cuboid

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

Formats the value using the given formatter.

impl From<Cuboid> for TriMesh

fn from(cuboid: Cuboid) -> Self

Converts to this type from the input type.

impl PartialEq for Cuboid

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

This method tests for self and other values to be equal, and is used by ==.

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

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

impl PointQuery for Cuboid

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 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_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 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 PolygonalFeatureMap for Cuboid

fn local_support_feature( &self, dir: &Unit<Vector<Real>>, out_feature: &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 Cuboid

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 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 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 Cuboid

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 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_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 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 Cuboid

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 Cuboid

impl StructuralPartialEq for Cuboid