Struct RoundShape

#[repr(C)]
pub struct RoundShape<S> {
    pub inner_shape: S,
    pub border_radius: f32,
}

A shape with rounded borders.

Fields

inner_shape: S

The shape being rounded.

border_radius: f32

The radius of the rounded border.

Implementations

impl RoundShape<Cone>

pub fn to_outline( &self, nsubdiv: u32, border_nsubdiv: u32, ) -> (Vec<OPoint<f32, Const<3>>>, Vec<[u32; 2]>)

Outlines this round cone’s shape using polylines.

impl RoundShape<ConvexPolyhedron>

pub fn to_outline( &self, nsubdivs: u32, ) -> (Vec<OPoint<f32, Const<3>>>, Vec<[u32; 2]>)

Outlines this round convex polyhedron’s shape using polylines.

impl RoundShape<Cuboid>

pub fn to_outline( &self, nsubdivs: u32, ) -> (Vec<OPoint<f32, Const<3>>>, Vec<[u32; 2]>)

Outlines this round cuboid’s surface with polylines.

impl RoundShape<Cylinder>

pub fn to_outline( &self, nsubdiv: u32, border_nsubdiv: u32, ) -> (Vec<OPoint<f32, Const<3>>>, Vec<[u32; 2]>)

Outlines this round cylinder’s shape using polylines.

Trait Implementations

impl<S> Clone for RoundShape<S>

where S: Clone,

fn clone(&self) -> RoundShape<S>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<S> Debug for RoundShape<S>

where S: Debug,

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

Formats the value using the given formatter.

impl<S> PointQuery for RoundShape<S>

where S: SupportMap,

fn project_local_point( &self, point: &OPoint<f32, Const<3>>, solid: bool, ) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &OPoint<f32, Const<3>>, ) -> (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: &OPoint<f32, Const<3>>, solid: bool, max_dist: f32, ) -> 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<f32, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, 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: &OPoint<f32, Const<3>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &OPoint<f32, Const<3>>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, 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, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, ) -> (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, Unit<Quaternion<f32>>, 3>, pt: &OPoint<f32, Const<3>>, ) -> bool

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

impl<S> RayCast for RoundShape<S>

where S: SupportMap,

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, Unit<Quaternion<f32>>, 3>, 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, Unit<Quaternion<f32>>, 3>, 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, Unit<Quaternion<f32>>, 3>, ray: &Ray, max_time_of_impact: f32, ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for RoundShape<Cone>

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, 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, Unit<Quaternion<f32>>, 3>, ) -> 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, Unit<Quaternion<f32>>, 3>, ) -> 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: &OPoint<f32, Const<3>>, ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, ) -> 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 Shape for RoundShape<ConvexPolyhedron>

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, 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, Unit<Quaternion<f32>>, 3>, ) -> 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, Unit<Quaternion<f32>>, 3>, ) -> 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: &OPoint<f32, Const<3>>, ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, ) -> 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 Shape for RoundShape<Cuboid>

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, 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, Unit<Quaternion<f32>>, 3>, ) -> 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, Unit<Quaternion<f32>>, 3>, ) -> 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: &OPoint<f32, Const<3>>, ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, ) -> 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 Shape for RoundShape<Cylinder>

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, 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, Unit<Quaternion<f32>>, 3>, ) -> 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, Unit<Quaternion<f32>>, 3>, ) -> 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: &OPoint<f32, Const<3>>, ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, ) -> 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 Shape for RoundShape<Triangle>

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

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, 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, Unit<Quaternion<f32>>, 3>, ) -> 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, Unit<Quaternion<f32>>, 3>, ) -> 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: &OPoint<f32, Const<3>>, ) -> Option<Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3>, ) -> 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<S> SupportMap for RoundShape<S>

where S: SupportMap,

fn local_support_point( &self, dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, ) -> OPoint<f32, Const<3>>

fn local_support_point_toward( &self, dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>, ) -> OPoint<f32, Const<3>>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>, dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>, ) -> OPoint<f32, Const<3>>

fn support_point_toward( &self, transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>, dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>, ) -> OPoint<f32, Const<3>>

Same as self.support_point except that dir is normalized.

impl<S> Copy for RoundShape<S>

where S: Copy,