Struct parry3d::shape::HalfSpace

#[repr(C)]
pub struct HalfSpace {
    pub normal: Unit<Vector<Real>>,
}

A half-space delimited by an infinite plane.

Fields

normal: Unit<Vector<Real>>

The halfspace planar boundary’s outward normal.

Implementations

impl HalfSpace

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

Computes the world-space Aabb of this half-space.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this half-space.

impl HalfSpace

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this half-space.

impl HalfSpace

pub fn new(normal: Unit<Vector<Real>>) -> HalfSpace

Builds a new halfspace from its center and its normal.

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

Computes a scaled version of this half-space.

Returns None if self.normal scaled by scale is zero (the scaled half-space degenerates to a single point).

Trait Implementations

impl Clone for HalfSpace

fn clone(&self) -> HalfSpace

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for HalfSpace

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

Formats the value using the given formatter.

impl PartialEq for HalfSpace

fn eq(&self, other: &HalfSpace) -> 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 HalfSpace

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 RayCast for HalfSpace

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 HalfSpace

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 is_convex(&self) -> bool

Is this shape known to be convex?

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

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

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

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

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

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

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

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

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_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 Copy for HalfSpace

impl StructuralPartialEq for HalfSpace