Struct heron::rapier_plugin::rapier::geometry::Trimesh

pub struct Trimesh { /* fields omitted */ }

A triangle mesh.

Implementations

impl Trimesh

pub fn new(
    vertices: Vec<Point<f32, U3>, Global>,
    indices: Vec<Point<u32, U3>, Global>
) -> Trimesh

Creates a new triangle mesh from a vertex buffer and an index buffer.

pub fn aabb(&self, pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

Compute the axis-aligned bounding box of this triangle mesh.

pub fn num_triangles(&self) -> usize

The number of triangles forming this mesh.

pub fn triangles(&self) -> impl Iterator<Item = Triangle<f32>>

An iterator through all the triangles of this mesh.

pub fn triangle(&self, i: usize) -> Triangle<f32>

Get the i-th triangle of this mesh.

pub fn vertices(&self) -> &[Point<f32, U3>]

The vertex buffer of this mesh.

pub fn indices(&self) -> &[Point<u32, U3>]

The index buffer of this mesh.

pub fn flat_indices(&self) -> &[u32]

A flat view of the index buffer of this mesh.

Trait Implementations

impl Clone for Trimesh

pub fn clone(&self) -> Trimesh

Returns a copy of the value.

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

Performs copy-assignment from source.

impl PointQuery<f32> for Trimesh

pub fn project_point(
    &self,
    _m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    _pt: &Point<f32, U3>,
    _solid: bool
) -> PointProjection<f32>

Projects a point on self transformed by m.

pub fn project_point_with_feature(
    &self,
    _m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    _pt: &Point<f32, U3>
) -> (PointProjection<f32>, FeatureId)

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

pub fn distance_to_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> N

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

pub fn contains_point(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>
) -> bool

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

impl RayCast<f32> for Trimesh

pub fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray<f32>,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection<f32>>

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

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray<f32>,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

pub fn toi_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

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

pub fn toi_and_normal_and_uv_with_ray(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

impl Shape for Trimesh

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> AABB<f32>

Computes the AABB of this shape.

pub fn mass_properties(&self, _density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.