Struct parry3d::shape::Cylinder

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#[repr(C)]
pub struct Cylinder { pub half_height: Real, pub radius: Real, }
Expand description

Cylinder shape with its principal axis aligned with the y axis.

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§half_height: Real

The half-height of the cylinder.

§radius: Real

The radius fo the cylinder.

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impl Cylinder

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

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

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pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this cylinder.

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impl Cylinder

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

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

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this cylinder.

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impl Cylinder

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pub fn new(half_height: Real, radius: Real) -> Cylinder

Creates a new cylinder.

§Arguments:
  • half_height - the half length of the cylinder along the y axis.
  • radius - the length of the cylinder along all other axis.
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pub fn scaled( self, scale: &Vector<Real>, nsubdivs: u32 ) -> Option<Either<Self, ConvexPolyhedron>>

Computes a scaled version of this cylinder.

If the scaling factor is non-uniform, then it can’t be represented as cylinder. 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).

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impl Cylinder

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

Outlines this cylinder’s shape using polylines.

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impl Cylinder

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

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

Trait Implementations§

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impl Clone for Cylinder

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fn clone(&self) -> Cylinder

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Cylinder

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

Formats the value using the given formatter. Read more
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impl PartialEq for Cylinder

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

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

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

Projects a point on self. Read more
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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.
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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. Read more
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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.
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.
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fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.
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fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.
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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.
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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.
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fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.
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impl PolygonalFeatureMap for Cylinder

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

Compute the support polygonal face of self towards the dir.
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fn is_convex_polyhedron(&self) -> bool

Is this shape a ConvexPolyhedron?
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impl RayCast for Cylinder

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

Tests whether a ray intersects this transformed shape.
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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.
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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.
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fn intersects_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real ) -> bool

Tests whether a ray intersects this transformed shape.
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impl Shape for Cylinder

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

Clones this shape into a boxed trait-object.
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fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.
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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.
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fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.
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fn mass_properties(&self, density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.
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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more
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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.
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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.
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fn ccd_thickness(&self) -> Real

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fn ccd_angular_thickness(&self) -> Real

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

Convents this shape into its support mapping, if it has one.
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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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.
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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.
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impl SupportMap for Cylinder

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

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

Same as self.local_support_point except that dir is normalized.
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fn support_point( &self, transform: &Isometry<Real>, dir: &Vector<Real> ) -> Point<Real>

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

Same as self.support_point except that dir is normalized.
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impl Copy for Cylinder

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impl StructuralPartialEq for Cylinder

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