[−][src]Struct ncollide3d::shape::Triangle
A triangle shape.
Methods
impl<N: Real> Triangle<N>
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pub fn new(a: Point<N>, b: Point<N>, c: Point<N>) -> Triangle<N>
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Creates a triangle from three points.
pub fn from_array(arr: &[Point<N>; 3]) -> &Triangle<N>
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Creates the reference to a triangle from the reference to an array of three points.
pub fn a(&self) -> &Point<N>
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The fist point of this triangle.
pub fn b(&self) -> &Point<N>
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The second point of this triangle.
pub fn c(&self) -> &Point<N>
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The third point of this triangle.
pub fn vertices(&self) -> &[Point<N>; 3]
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Reference to an array containing the three vertices of this triangle.
pub fn normal(&self) -> Option<Unit<Vector<N>>>
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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]
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The three edges of this triangle: [AB, BC, CA].
pub fn transformed(&self, m: &Isometry<N>) -> Self
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Returns a new triangle with vertices transformed by m
.
pub fn edges_scaled_directions(&self) -> [Vector<N>; 3]
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The three edges scaled directions of this triangle: [B - A, C - B, A - C].
pub fn scaled_normal(&self) -> Vector<N>
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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<Vector<N>>) -> (N, N)
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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>,
dir: &Unit<Vector<N>>
) -> bool
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&self,
feature: FeatureId,
m: &Isometry<N>,
dir: &Unit<Vector<N>>
) -> bool
Checks that the given direction in world-space is on the tangent cone of the given feature
.
Trait Implementations
impl<N: Real> HasBoundingVolume<N, AABB<N>> for Triangle<N>
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fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>
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impl<N: Real> HasBoundingVolume<N, BoundingSphere<N>> for Triangle<N>
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fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>
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impl<N: Real> PointQuery<N> for Triangle<N>
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fn project_point(
&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> PointProjection<N>
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&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> PointProjection<N>
fn project_point_with_feature(
&self,
m: &Isometry<N>,
pt: &Point<N>
) -> (PointProjection<N>, FeatureId)
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&self,
m: &Isometry<N>,
pt: &Point<N>
) -> (PointProjection<N>, FeatureId)
fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N
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Computes the minimal distance between a point and self
transformed by m
.
fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool
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Tests if the given point is inside of self
transformed by m
.
impl<N: Real> PointQueryWithLocation<N> for Triangle<N>
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type Location = TrianglePointLocation<N>
Additional shape-specific projection information Read more
fn project_point_with_location(
&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> (PointProjection<N>, Self::Location)
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&self,
m: &Isometry<N>,
pt: &Point<N>,
solid: bool
) -> (PointProjection<N>, Self::Location)
impl<N: Real> RayCast<N> for Triangle<N>
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fn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
_: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N>,
ray: &Ray<N>,
_: bool
) -> Option<RayIntersection<N>>
fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, solid: bool) -> Option<N>
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Computes the time of impact between this transform shape and a ray.
fn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N>,
ray: &Ray<N>,
solid: bool
) -> Option<RayIntersection<N>>
Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray. Read more
fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>) -> bool
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Tests whether a ray intersects this transformed shape.
impl<N: Real> ConvexPolyhedron<N> for Triangle<N>
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fn vertex(&self, id: FeatureId) -> Point<N>
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fn edge(&self, id: FeatureId) -> (Point<N>, Point<N>, FeatureId, FeatureId)
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fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)
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fn feature_normal(&self, _: FeatureId) -> Unit<Vector<N>>
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fn support_face_toward(
&self,
m: &Isometry<N>,
dir: &Unit<Vector<N>>,
face: &mut ConvexPolygonalFeature<N>
)
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&self,
m: &Isometry<N>,
dir: &Unit<Vector<N>>,
face: &mut ConvexPolygonalFeature<N>
)
fn support_feature_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
eps: N,
out: &mut ConvexPolygonalFeature<N>
)
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&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
eps: N,
out: &mut ConvexPolygonalFeature<N>
)
fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId
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impl<N: Real> Shape<N> for Triangle<N>
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fn aabb(&self, m: &Isometry<N>) -> AABB<N>
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fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>
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fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
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fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
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fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
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fn is_support_map(&self) -> bool
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fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
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fn is_convex_polyhedron(&self) -> bool
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fn tangent_cone_contains_dir(
&self,
feature: FeatureId,
m: &Isometry<N>,
_: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
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&self,
feature: FeatureId,
m: &Isometry<N>,
_: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
fn subshape_containing_feature(&self, _i: FeatureId) -> usize
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Returns the id of the subshape containing the specified feature. Read more
fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
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The composite shape representation of self
if applicable.
fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
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The deformable shape representation of self
if applicable.
fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
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The mutable deformable shape representation of self
if applicable.
fn is_composite_shape(&self) -> bool
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Whether self
uses a composite shape-based representation.
fn is_deformable_shape(&self) -> bool
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Whether self
uses a composite shape-based representation.
impl<N: Real> SupportMap<N> for Triangle<N>
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fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N>
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fn support_point_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>
) -> Point<N>
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&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>
) -> Point<N>
Same as self.support_point
except that dir
is normalized.
impl<N: Real> ToTriMesh<N> for Triangle<N>
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type DiscretizationParameter = ()
fn to_trimesh(&self, _: ()) -> TriMesh<N>
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impl<N: Clone + Real> Clone for Triangle<N>
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fn clone(&self) -> Triangle<N>
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fn clone_from(&mut self, source: &Self)
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Performs copy-assignment from source
. Read more
impl<N: PartialEq + Real> PartialEq<Triangle<N>> for Triangle<N>
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impl<N: Debug + Real> Debug for Triangle<N>
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Auto Trait Implementations
Blanket Implementations
impl<T> From for T
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impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
impl<T, U> TryFrom for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, U> TryInto for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> Same for T
type Output = T
Should always be Self