Struct ncollide2d::shape::Segment

#[repr(C)]
pub struct Segment<N: RealField> { /* fields omitted */ }

A segment shape.

Methods

impl<N: RealField> Segment<N>

pub fn new(a: Point<N>, b: Point<N>) -> Segment<N>

Creates a new segment from two points.

pub fn from_array(arr: &[Point<N>; 2]) -> &Segment<N>

Creates the reference to a segment from the reference to an array of two points.

impl<N: RealField> Segment<N>

pub fn a(&self) -> &Point<N>

The first point of this segment.

pub fn b(&self) -> &Point<N>

The second point of this segment.

impl<N: RealField> Segment<N>

pub fn scaled_direction(&self) -> Vector<N>

The direction of this segment scaled by its length.

Points from self.a() toward self.b().

pub fn length(&self) -> N

The length of this segment.

pub fn swap(&mut self)

Swaps the two vertices of this segment.

pub fn direction(&self) -> Option<Unit<Vector<N>>>

The unit direction of this segment.

Points from self.a() toward self.b(). Returns None is both points are equal.

pub fn scaled_normal(&self) -> Vector<N>

In 2D, the not-normalized counterclockwise normal of this segment.

pub fn normal(&self) -> Option<Unit<Vector<N>>>

In 2D, the normalized counterclockwise normal of this segment.

pub fn transformed(&self, m: &Isometry<N>) -> Self

Applies the isometry m to the vertices of this segment and returns the resulting segment.

pub fn point_at(&self, location: &SegmentPointLocation<N>) -> Point<N>

Computes the point at the given location.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    dir: &Unit<Vector<N>>
) -> bool

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

impl<N: Clone + RealField> Clone for Segment<N>

fn clone(&self) -> Segment<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField> ConvexPolyhedron<N> for Segment<N>

fn vertex(&self, id: FeatureId) -> Point<N>

Gets the specified vertex in the shape local-space.

fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape's local-space.

fn feature_normal(&self, feature: FeatureId) -> Unit<Vector<N>>

Returns any normal from the normal cone of the given feature.

fn support_face_toward(
    &self,
    m: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    face: &mut ConvexPolygonalFeature<N>
)

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

fn support_feature_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    eps: N,
    face: &mut ConvexPolygonalFeature<N>
)

Retrieve the feature (in world-space) which normal cone contains dir.

fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId

Retrieve the identifier of the feature which normal cone contains dir.

impl<N: Debug + RealField> Debug for Segment<N>

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

Formats the value using the given formatter.

impl<N: RealField> HasBoundingVolume<N, AABB<N>> for Segment<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for Segment<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N: PartialEq + RealField> PartialEq<Segment<N>> for Segment<N>

fn eq(&self, other: &Segment<N>) -> bool

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

fn ne(&self, other: &Segment<N>) -> bool

This method tests for !=.

impl<N: RealField> PointQuery<N> for Segment<N>

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

Projects a point on self transformed by m.

fn project_point_with_feature(
    &self,
    m: &Isometry<N>,
    pt: &Point<N>
) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

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

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

fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool

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

impl<N: RealField> PointQueryWithLocation<N> for Segment<N>

type Location = SegmentPointLocation<N>

Additional shape-specific projection information

fn project_point_with_location(
    &self,
    m: &Isometry<N>,
    pt: &Point<N>,
    _: bool
) -> (PointProjection<N>, Self::Location)

Projects a point on self transformed by m.

impl<N: RealField> RayCast<N> for Segment<N>

fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

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

fn toi_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

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

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

Tests whether a ray intersects this transformed shape.

impl<N: RealField> Shape<N> for Segment<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

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

The support mapping of self if applicable.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    _: Option<&[N]>,
    dir: &Unit<Vector<N>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

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

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N: RealField> StructuralPartialEq for Segment<N>

impl<N: RealField> SupportMap<N> for Segment<N>

fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N>

Evaluates the support function of the object.

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

Same as self.support_point except that dir is normalized.

impl<N: RealField> ToPolyline<N> for Segment<N>

type DiscretizationParameter = ()

fn to_polyline(&self, _: ()) -> Polyline<N>

Builds a triangle mesh from this shape.