Struct heron::rapier_plugin::rapier::ncollide::shape::Triangle

#[repr(C)]pub struct Triangle<N> where
    N: RealField,  {
    pub a: Point<N, U3>,
    pub b: Point<N, U3>,
    pub c: Point<N, U3>,
}

A triangle shape.

Fields

a: Point<N, U3>

The triangle first point.

b: Point<N, U3>

The triangle second point.

c: Point<N, U3>

The triangle third point.

Implementations

impl<N> Triangle<N> where
    N: RealField, 

pub fn new(a: Point<N, U3>, b: Point<N, U3>, c: Point<N, U3>) -> Triangle<N>

Creates a triangle from three points.

pub fn from_array(arr: &[Point<N, U3>; 3]) -> &Triangle<N>

Creates the reference to a triangle from the reference to an array of three points.

pub fn a(&self) -> &Point<N, U3>

👎 Deprecated:

use the self.a public field directly.

The fist point of this triangle.

pub fn b(&self) -> &Point<N, U3>

👎 Deprecated:

use the self.b public field directly.

The second point of this triangle.

pub fn c(&self) -> &Point<N, U3>

👎 Deprecated:

use the self.c public field directly.

The third point of this triangle.

pub fn vertices(&self) -> &[Point<N, U3>; 3]

Reference to an array containing the three vertices of this triangle.

pub fn normal(
    &self
) -> Option<Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>>

The normal of this triangle assuming it is oriented ccw.

The normal points such that it is collinear to AB × AC (where × denotes the cross product).

pub fn edges(&self) -> [Segment<N>; 3]

The three edges of this triangle: [AB, BC, CA].

pub fn transformed(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> Triangle<N>

Returns a new triangle with vertices transformed by m.

pub fn edges_scaled_directions(
    &self
) -> [Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>; 3]

The three edges scaled directions of this triangle: [B - A, C - B, A - C].

pub fn scaled_normal(
    &self
) -> Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>

A vector normal of this triangle.

The vector points such that it is collinear to AB × AC (where × denotes the cross product).

pub fn extents_on_dir(
    &self,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> (N, N)

Computes the extents of this triangle on the given direction.

This computes the min and max values of the dot products between each vertex of this triangle and dir.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool

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

Trait Implementations

impl<N> Clone for Triangle<N> where
    N: Clone + RealField, 

pub fn clone(&self) -> Triangle<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> ConvexPolyhedron<N> for Triangle<N> where
    N: RealField, 

pub fn vertex(&self, id: FeatureId) -> Point<N, U3>

Gets the specified vertex in the shape local-space.

pub fn edge(
    &self,
    id: FeatureId
) -> (Point<N, U3>, Point<N, U3>, FeatureId, FeatureId)

Get the specified edge's vertices (in the shape local-space) and the vertices' identifiers.

pub 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.

pub fn feature_normal(
    &self,
    FeatureId
) -> Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>

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

pub fn support_face_toward(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    face: &mut ConvexPolygonalFeature<N>
)

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

pub fn support_feature_toward(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
    eps: N,
    out: &mut ConvexPolygonalFeature<N>
)

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

pub fn support_feature_id_toward(
    &self,
    local_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> FeatureId

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

impl<N> Copy for Triangle<N> where
    N: Copy + RealField, 

impl<N> Debug for Triangle<N> where
    N: Debug + RealField, 

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

Formats the value using the given formatter.

impl<N> HasBoundingVolume<N, AABB<N>> for Triangle<N> where
    N: RealField, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>

The bounding volume of self transformed by m.

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

The bounding volume of self.

impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Triangle<N> where
    N: RealField, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>

The bounding volume of self transformed by m.

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

The bounding volume of self.

impl<N> PartialEq<Triangle<N>> for Triangle<N> where
    N: PartialEq<N> + RealField, 

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

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

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

This method tests for !=.

impl<N> PointQuery<N> for Triangle<N> where
    N: RealField, 

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

Projects a point on self transformed by m.

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

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<N> PointQueryWithLocation<N> for Triangle<N> where
    N: RealField, 

type Location = TrianglePointLocation<N>

Additional shape-specific projection information

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> (PointProjection<N>, <Triangle<N> as PointQueryWithLocation<N>>::Location)

Projects a point on self transformed by m.

impl<N> RayCast<N> for Triangle<N> where
    N: RealField, 

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

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

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.

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

Tests whether a ray intersects this transformed shape.

impl Shape for Triangle<f32>

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.

impl<N> Shape<N> for Triangle<N> where
    N: RealField, 

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

The AABB of self transformed by m.

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

The AABB of self.

pub fn bounding_sphere(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

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

The RayCast implementation of self.

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

The PointQuery implementation of self.

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

The support mapping of self if applicable.

pub fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

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

The convex polyhedron representation of self if applicable.

pub fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    Option<&[N]>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> 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.

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

The bounding sphere of self.

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

Returns the id of the subshape containing the specified feature.

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

The composite shape representation of self if applicable.

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

The deformable shape representation of self if applicable.

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

The mutable deformable shape representation of self if applicable.

pub fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

pub fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N> StructuralPartialEq for Triangle<N> where
    N: RealField, 

impl<N> SupportMap<N> for Triangle<N> where
    N: RealField, 

pub fn local_support_point(
    &self,
    dir: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Point<N, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> Point<N, U3>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Point<N, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<N, U3, Unit<Quaternion<N>>>,
    dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> Point<N, U3>

Same as self.support_point except that dir is normalized.

impl<N> ToTriMesh<N> for Triangle<N> where
    N: RealField, 

type DiscretizationParameter = ()

pub fn to_trimesh(&self, ()) -> TriMesh<N>

Builds a triangle mesh from this shape.