Struct Capsules3D

pub struct Capsules3D {
    pub lengths: Vec<Length>,
    pub radii: Vec<Radius>,
    pub translations: Option<Vec<PoseTranslation3D>>,
    pub rotation_axis_angles: Option<Vec<PoseRotationAxisAngle>>,
    pub quaternions: Option<Vec<PoseRotationQuat>>,
    pub colors: Option<Vec<Color>>,
    pub labels: Option<Vec<Text>>,
    pub show_labels: Option<ShowLabels>,
    pub class_ids: Option<Vec<ClassId>>,
}

Archetype: 3D capsules; cylinders with hemispherical caps.

Capsules are defined by two endpoints (the centers of their end cap spheres), which are located at (0, 0, 0) and (0, 0, length), that is, extending along the positive direction of the Z axis. Capsules in other orientations may be produced by applying a rotation to the entity or instances.

Example

Batch of capsules

use rerun::external::glam::vec3;

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let rec = rerun::RecordingStreamBuilder::new("rerun_example_capsule3d_batch").spawn()?;

    rec.log(
        "capsules",
        &rerun::Capsules3D::from_lengths_and_radii([0., 2., 4., 6., 8.], [1., 0.5, 0.5, 0.5, 1.])
            .with_colors([
                rerun::Color::from_rgb(255, 0, 0),
                rerun::Color::from_rgb(188, 188, 0),
                rerun::Color::from_rgb(0, 255, 0),
                rerun::Color::from_rgb(0, 188, 188),
                rerun::Color::from_rgb(0, 0, 255),
            ])
            .with_translations([
                vec3(0., 0., 0.),
                vec3(2., 0., 0.),
                vec3(4., 0., 0.),
                vec3(6., 0., 0.),
                vec3(8., 0., 0.),
            ])
            .with_rotation_axis_angles((0..5).map(|i| {
                rerun::RotationAxisAngle::new(
                    [1.0, 0.0, 0.0],
                    rerun::Angle::from_degrees(i as f32 * -22.5),
                )
            })),
    )?;

    Ok(())
}

Fields

lengths: Vec<Length>

Lengths of the capsules, defined as the distance between the centers of the endcaps.

radii: Vec<Radius>

Radii of the capsules.

translations: Option<Vec<PoseTranslation3D>>

Optional translations of the capsules.

If not specified, one end of each capsule will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

rotation_axis_angles: Option<Vec<PoseRotationAxisAngle>>

Rotations via axis + angle.

If no rotation is specified, the capsules align with the +Z axis of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

quaternions: Option<Vec<PoseRotationQuat>>

Rotations via quaternion.

If no rotation is specified, the capsules align with the +Z axis of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

colors: Option<Vec<Color>>

Optional colors for the capsules.

labels: Option<Vec<Text>>

Optional text labels for the capsules, which will be located at their centers.

show_labels: Option<ShowLabels>

Optional choice of whether the text labels should be shown by default.

class_ids: Option<Vec<ClassId>>

Optional class ID for the ellipsoids.

The class ID provides colors and labels if not specified explicitly.

Implementations

impl Capsules3D

pub const NUM_COMPONENTS: usize = 10usize

The total number of components in the archetype: 2 required, 3 recommended, 5 optional

impl Capsules3D

pub fn with_translations( self, translations: impl IntoIterator<Item = impl Into<PoseTranslation3D>>, ) -> Self

Optional translations of the capsules.

If not specified, one end of each capsule will be at (0, 0, 0). Note that this uses a components::PoseTranslation3D which is also used by archetypes::InstancePoses3D.

pub fn with_rotation_axis_angles( self, rotation_axis_angles: impl IntoIterator<Item = impl Into<PoseRotationAxisAngle>>, ) -> Self

Rotations via axis + angle.

If no rotation is specified, the capsules align with the +Z axis of the local coordinate system. Note that this uses a components::PoseRotationAxisAngle which is also used by archetypes::InstancePoses3D.

pub fn with_quaternions( self, quaternions: impl IntoIterator<Item = impl Into<PoseRotationQuat>>, ) -> Self

Rotations via quaternion.

If no rotation is specified, the capsules align with the +Z axis of the local coordinate system. Note that this uses a components::PoseRotationQuat which is also used by archetypes::InstancePoses3D.

pub fn with_colors( self, colors: impl IntoIterator<Item = impl Into<Color>>, ) -> Self

Optional colors for the capsules.

pub fn with_labels( self, labels: impl IntoIterator<Item = impl Into<Text>>, ) -> Self

Optional text labels for the capsules, which will be located at their centers.

pub fn with_show_labels(self, show_labels: impl Into<ShowLabels>) -> Self

Optional choice of whether the text labels should be shown by default.

pub fn with_class_ids( self, class_ids: impl IntoIterator<Item = impl Into<ClassId>>, ) -> Self

Optional class ID for the ellipsoids.

The class ID provides colors and labels if not specified explicitly.

impl Capsules3D

pub fn from_lengths_and_radii( lengths: impl IntoIterator<Item = impl Into<Length>>, radii: impl IntoIterator<Item = f32>, ) -> Self

Creates a new Capsules3D with the given axis-aligned lengths and radii.

For multiple capsules, you should generally follow this with Capsules3D::with_translations() and one of the rotation methods, in order to move them apart from each other.

pub fn from_endpoints_and_radii( start_points: impl IntoIterator<Item = impl Into<Position3D>>, end_points: impl IntoIterator<Item = impl Into<Position3D>>, radii: impl IntoIterator<Item = f32>, ) -> Self

Creates a new Capsules3D where each capsule extends between the given pairs of points.

Trait Implementations

impl Archetype for Capsules3D

type Indicator = GenericIndicatorComponent<Capsules3D>

The associated indicator component, whose presence indicates that the high-level archetype-based APIs were used to log the data.

fn name() -> ArchetypeName

The fully-qualified name of this archetype, e.g. rerun.archetypes.Points2D.

fn display_name() -> &'static str

Readable name for displaying in ui.

fn indicator() -> MaybeOwnedComponentBatch<'static>

Creates a ComponentBatch out of the associated Self::Indicator component.

fn required_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must be provided by the user when constructing this archetype.

fn recommended_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that should be provided by the user when constructing this archetype.

fn optional_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that may be provided by the user when constructing this archetype.

fn all_components() -> Cow<'static, [ComponentName]>

Returns the names of all components that must, should and may be provided by the user when constructing this archetype.

fn from_arrow_components( arrow_data: impl IntoIterator<Item = (ComponentName, Box<dyn Array>)>, ) -> DeserializationResult<Self>

Given an iterator of Arrow arrays and their respective ComponentNames, deserializes them into this archetype.

fn from_arrow( data: impl IntoIterator<Item = (Field, Box<dyn Array>)>, ) -> Result<Self, DeserializationError>

where Self: Sized,

Given an iterator of Arrow arrays and their respective field metadata, deserializes them into this archetype.

impl AsComponents for Capsules3D

fn as_component_batches(&self) -> Vec<MaybeOwnedComponentBatch<'_>>

Exposes the object’s contents as a set of ComponentBatchs.

fn to_arrow(&self) -> Result<Vec<(Field, Box<dyn Array>)>, SerializationError>

Serializes all non-null Components of this bundle into Arrow arrays.

impl Clone for Capsules3D

fn clone(&self) -> Capsules3D

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Capsules3D

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

Formats the value using the given formatter.

impl PartialEq for Capsules3D

fn eq(&self, other: &Capsules3D) -> 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 SizeBytes for Capsules3D

fn heap_size_bytes(&self) -> u64

Returns the total size of self on the heap, in bytes.

fn is_pod() -> bool

Is Self just plain old data?

fn total_size_bytes(&self) -> u64

Returns the total size of self in bytes, accounting for both stack and heap space.

fn stack_size_bytes(&self) -> u64

Returns the total size of self on the stack, in bytes.

impl ArchetypeReflectionMarker for Capsules3D

impl StructuralPartialEq for Capsules3D