Struct RacingGatePlane3D 

pub struct RacingGatePlane3D { /* private fields */ }

A rectangular racing gate plane in 3-D.

The gate is defined by its center, a unit normal pointing in the race direction, and an in-plane up axis. The right axis is derived as normal x up. A point is inside the aperture when its in-plane offset along right/up is within half_width/half_height respectively.

Implementations

impl RacingGatePlane3D

pub fn new( center: [f64; 3], normal: [f64; 3], up_hint: [f64; 3], half_width: f64, half_height: f64, ) -> RoboticsResult<Self>

Build a gate from a center, race-direction normal, and up hint.

up_hint need not be perpendicular to the normal or unit length; it is orthonormalized against the normal. The width axis is normal x up.

pub fn center(&self) -> [f64; 3]

pub fn normal(&self) -> [f64; 3]

pub fn half_width(&self) -> f64

pub fn half_height(&self) -> f64

pub fn signed_distance(&self, point: [f64; 3]) -> f64

Signed distance to the gate plane; positive is in front (race direction).

pub fn plane_offsets(&self, point: [f64; 3]) -> (f64, f64)

In-plane offsets (right, up) of a point relative to the gate center.

pub fn squared_distance(&self, point: [f64; 3]) -> f64

pub fn within_aperture(&self, point: [f64; 3], tolerance: f64) -> bool

Whether a point projects inside the rectangular aperture (with tolerance).

pub fn crosses(&self, from: [f64; 3], to: [f64; 3], tolerance: f64) -> bool

Whether the segment from -> to passes through the gate aperture.

The segment must cross the plane from behind (negative side) to in front (non-negative side), and the plane-crossing point must lie inside the aperture.

pub fn aperture_margin(&self, point: [f64; 3]) -> f64

Normalized aperture margin of a crossing point in [0, 1]: 1 at the gate center, 0 at the aperture edge. Used as a clearance metric.

Trait Implementations

impl Clone for RacingGatePlane3D

fn clone(&self) -> RacingGatePlane3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RacingGatePlane3D

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

Formats the value using the given formatter.

impl PartialEq for RacingGatePlane3D

fn eq(&self, other: &RacingGatePlane3D) -> bool

Tests for self and other values to be equal, and is used by ==.

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

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

impl Copy for RacingGatePlane3D

impl StructuralPartialEq for RacingGatePlane3D