Struct collision::primitive::ConvexPolyhedron

pub struct ConvexPolyhedron<S> where
    S: BaseFloat,  { /* fields omitted */ }

Convex polyhedron primitive.

Can contain any number of vertices, but a high number of vertices will affect performance of course. It is recommended for high vertex counts, to also provide the faces, this will cause the support function to use hill climbing on a half edge structure, resulting in better performance. The breakpoint is around 250 vertices, but the face version is only marginally slower on lower vertex counts (about 1-2%), while for higher vertex counts it's about 2-5 times faster.

Methods

impl<S> ConvexPolyhedron<S> where
    S: BaseFloat, 

pub fn new(vertices: Vec<Point3<S>>) -> Self

Create a new convex polyhedron from the given vertices.

pub fn new_with_faces(
    vertices: Vec<Point3<S>>,
    faces: Vec<(usize, usize, usize)>
) -> Self

Create a new convex polyhedron from the given vertices and faces.

pub fn new_with_faces_dedup(
    vertices: Vec<Point3<S>>,
    faces: Vec<(usize, usize, usize)>
) -> Self

Create a new convex polyhedron from the given vertices and faces. Will remove any duplicate vertices.

pub fn faces_iter(&self) -> FaceIterator<S>

Return an iterator that will yield tuples of the 3 vertices of each face

Trait Implementations

impl<S: Debug> Debug for ConvexPolyhedron<S> where
    S: BaseFloat, 

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<S: Clone> Clone for ConvexPolyhedron<S> where
    S: BaseFloat, 

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<S: PartialEq> PartialEq for ConvexPolyhedron<S> where
    S: BaseFloat, 

fn eq(&self, __arg_0: &ConvexPolyhedron<S>) -> bool

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

fn ne(&self, __arg_0: &ConvexPolyhedron<S>) -> bool

This method tests for !=.

impl<S> Primitive for ConvexPolyhedron<S> where
    S: BaseFloat, 

type Point = Point3<S>

Point type

fn support_point<T>(&self, direction: &Vector3<S>, transform: &T) -> Point3<S> where
    T: Transform<Point3<S>>, 

Get the support point on the shape in a given direction.

impl<S> ComputeBound<Aabb3<S>> for ConvexPolyhedron<S> where
    S: BaseFloat, 

fn compute_bound(&self) -> Aabb3<S>

Compute the bounding volume

impl<S> ComputeBound<Sphere<S>> for ConvexPolyhedron<S> where
    S: BaseFloat, 

fn compute_bound(&self) -> Sphere<S>

Compute the bounding volume

impl<S> Discrete<Ray3<S>> for ConvexPolyhedron<S> where
    S: BaseFloat, 

TODO: better algorithm for finding faces to intersect with?

fn intersects(&self, ray: &Ray3<S>) -> bool

Ray must be in object space

impl<S> Continuous<Ray3<S>> for ConvexPolyhedron<S> where
    S: BaseFloat, 

type Result = Point3<S>

Result returned by the intersection test

fn intersection(&self, ray: &Ray3<S>) -> Option<Point3<S>>

Ray must be in object space

impl<S> From<ConvexPolyhedron<S>> for Primitive3<S> where
    S: BaseFloat, 

fn from(polyhedron: ConvexPolyhedron<S>) -> Primitive3<S>

Performs the conversion.