Struct ncollide3d::shape::TriMesh
source · [−]Expand description
A 3d triangle mesh.
Implementations
sourceimpl<N: RealField + Copy> TriMesh<N>
impl<N: RealField + Copy> TriMesh<N>
sourcepub fn new(
points: Vec<Point<N>>,
indices: Vec<Point3<usize>>,
uvs: Option<Vec<Point2<N>>>
) -> TriMesh<N>
pub fn new(
points: Vec<Point<N>>,
indices: Vec<Point3<usize>>,
uvs: Option<Vec<Point2<N>>>
) -> TriMesh<N>
Builds a new mesh.
sourcepub fn faces(&self) -> &[TriMeshFace<N>]
pub fn faces(&self) -> &[TriMeshFace<N>]
The faces of this mesh.
sourcepub fn edges(&self) -> &[TriMeshEdge]
pub fn edges(&self) -> &[TriMeshEdge]
The edges of this mesh.
sourcepub fn vertices(&self) -> &[TriMeshVertex]
pub fn vertices(&self) -> &[TriMeshVertex]
The vertices of this mesh.
sourcepub fn transform_by(&mut self, transform: &Isometry<N>)
pub fn transform_by(&mut self, transform: &Isometry<N>)
Applies in-place a transformation to this triangle mesh.
sourcepub fn transformed(self, transform: &Isometry<N>) -> Self
pub fn transformed(self, transform: &Isometry<N>) -> Self
Applies a transformation to this triangle mesh.
sourcepub fn scale_by(&mut self, scale: &Vector<N>)
pub fn scale_by(&mut self, scale: &Vector<N>)
Applies in-place a non-uniform scale to this triangle mesh.
sourcepub fn scaled(self, scale: &Vector<N>) -> Self
pub fn scaled(self, scale: &Vector<N>) -> Self
Applies a non-uniform scale to this triangle mesh.
sourcepub fn oriented(&self) -> bool
pub fn oriented(&self) -> bool
Whether this trimesh is considered is oriented or not.
By default a trimesh is not oriented.
sourcepub fn set_oriented(&mut self, oriented: bool)
pub fn set_oriented(&mut self, oriented: bool)
Whether this trimesh is considered as oriented or not.
This is determined at the initialization of the trimesh.
sourcepub fn face_containing_feature(&self, id: FeatureId) -> usize
pub fn face_containing_feature(&self, id: FeatureId) -> usize
Face containing feature.
sourcepub fn edge_segment(&self, i: usize) -> Segment<N>
pub fn edge_segment(&self, i: usize) -> Segment<N>
The segment of the i
-th edge on this triangle mesh.
sourcepub fn adj_vertex_list(&self) -> &[usize]
pub fn adj_vertex_list(&self) -> &[usize]
The adjacent vertices list of this mesh.
Use TriMeshVertex.adj_vertices
to index this. Elements are indexes into the vertices
list.
sourcepub fn adj_face_list(&self) -> &[usize]
pub fn adj_face_list(&self) -> &[usize]
The adjacent vertices list of this mesh.
Use TriMeshVertex.adj_faces
to index this. Elements are indexes into the faces
list.
sourcepub fn triangle_at(&self, i: usize) -> Triangle<N>
pub fn triangle_at(&self, i: usize) -> Triangle<N>
Gets the i-th mesh element.
sourcepub fn is_backface(&self, feature: FeatureId) -> bool
pub fn is_backface(&self, feature: FeatureId) -> bool
Returns true
if the given feature is a FeatureId::Face and
identifies a backface of this trimesh.
sourcepub fn bvt(&self) -> &BVT<usize, AABB<N>>
pub fn bvt(&self) -> &BVT<usize, AABB<N>>
The optimization structure used by this triangle mesh.
sourcepub fn vertex_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
pub fn vertex_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
Tests that the given dir
is on the tangent cone of the i
th vertex
of this mesh.
sourcepub fn vertex_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N
) -> bool
pub fn vertex_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N
) -> bool
Tests that the given dir
is on the polar of the tangent cone of the i
th vertex
of this mesh.
sourcepub fn edge_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
pub fn edge_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
Tests that the given dir
is on the tangent cone of the i
th edge
of this mesh.
sourcepub fn edge_tangent_cone_polar_contains_orthogonal_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N
) -> bool
pub fn edge_tangent_cone_polar_contains_orthogonal_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N
) -> bool
Tests that the given dir
is on the polar of the tangent cone of the i
th edge
of this mesh.
The dir
is assumed to be orthogonal to the edge.
sourcepub fn edge_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N,
_cos_ang_tol: N
) -> bool
pub fn edge_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Vector<N>>,
sin_ang_tol: N,
_cos_ang_tol: N
) -> bool
Tests that the given dir
is on the polar of the tangent cone of the i
th edge
of this mesh.
sourcepub fn face_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
pub fn face_tangent_cone_contains_dir(
&self,
i: usize,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
Tests that the given dir
is on the tangent cone of the i
th face
of this mesh.
Trait Implementations
sourceimpl<N: RealField + Copy> CompositeShape<N> for TriMesh<N>
impl<N: RealField + Copy> CompositeShape<N> for TriMesh<N>
sourcefn map_part_at(
&self,
i: usize,
m: &Isometry<N>,
f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)
fn map_part_at(
&self,
i: usize,
m: &Isometry<N>,
f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)
Applies a transformation matrix and a function to each sub-shape of this concave shape. Read more
sourcefn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N>,
prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)
fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N>,
prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)
Applies a transformation matrix and a function to each sub-shape of this concave shape. Read more
sourceimpl<N: RealField + Copy> DeformableShape<N> for TriMesh<N>
impl<N: RealField + Copy> DeformableShape<N> for TriMesh<N>
sourcefn set_deformations(&mut self, coords: &[N])
fn set_deformations(&mut self, coords: &[N])
Updates all the degrees of freedom of this shape.
sourcefn deformations_type(&self) -> DeformationsType
fn deformations_type(&self) -> DeformationsType
The type of degrees of freedom this shape has.
sourcefn update_local_approximation(
&self,
coords: &[N],
approx: &mut LocalShapeApproximation<N>
)
fn update_local_approximation(
&self,
coords: &[N],
approx: &mut LocalShapeApproximation<N>
)
Updates the given local approximation of this shape.
sourceimpl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for TriMesh<N>
impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for TriMesh<N>
sourcefn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>
fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>
The bounding volume of self
transformed by m
.
sourcefn local_bounding_volume(&self) -> AABB<N>
fn local_bounding_volume(&self) -> AABB<N>
The bounding volume of self
.
sourceimpl<N: RealField + Copy> HasBoundingVolume<N, BoundingSphere<N>> for TriMesh<N>
impl<N: RealField + Copy> HasBoundingVolume<N, BoundingSphere<N>> for TriMesh<N>
sourcefn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>
fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>
The bounding volume of self
transformed by m
.
sourcefn local_bounding_volume(&self) -> BoundingSphere<N>
fn local_bounding_volume(&self) -> BoundingSphere<N>
The bounding volume of self
.
sourceimpl<N: RealField + Copy> PointQuery<N> for TriMesh<N>
impl<N: RealField + Copy> PointQuery<N> for TriMesh<N>
sourcefn project_point(
&self,
m: &Isometry<N>,
point: &Point<N>,
solid: bool
) -> PointProjection<N>
fn project_point(
&self,
m: &Isometry<N>,
point: &Point<N>,
solid: bool
) -> PointProjection<N>
Projects a point on self
transformed by m
.
sourcefn project_point_with_feature(
&self,
m: &Isometry<N>,
point: &Point<N>
) -> (PointProjection<N>, FeatureId)
fn project_point_with_feature(
&self,
m: &Isometry<N>,
point: &Point<N>
) -> (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. Read more
sourcefn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool
fn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool
Tests if the given point is inside of self
transformed by m
.
sourcefn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N
fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N
Computes the minimal distance between a point and self
transformed by m
.
sourceimpl<N: RealField + Copy> PointQueryWithLocation<N> for TriMesh<N>
impl<N: RealField + Copy> PointQueryWithLocation<N> for TriMesh<N>
type Location = (usize, TrianglePointLocation<N>)
type Location = (usize, TrianglePointLocation<N>)
Additional shape-specific projection information Read more
sourcefn project_point_with_location(
&self,
m: &Isometry<N>,
point: &Point<N>,
_: bool
) -> (PointProjection<N>, Self::Location)
fn project_point_with_location(
&self,
m: &Isometry<N>,
point: &Point<N>,
_: bool
) -> (PointProjection<N>, Self::Location)
Projects a point on self
transformed by m
.
sourceimpl<N: RealField + Copy> RayCast<N> for TriMesh<N>
impl<N: RealField + Copy> RayCast<N> for TriMesh<N>
sourcefn toi_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
max_toi: N,
_: bool
) -> Option<N>
fn toi_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
max_toi: N,
_: bool
) -> Option<N>
Computes the time of impact between this transform shape and a ray.
sourcefn toi_and_normal_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
max_toi: N,
_: bool
) -> Option<RayIntersection<N>>
fn toi_and_normal_with_ray(
&self,
m: &Isometry<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.
sourcefn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<N>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
fn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<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. Read more
sourcefn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool
fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool
Tests whether a ray intersects this transformed shape.
sourceimpl<N: RealField + Copy> Shape<N> for TriMesh<N>
impl<N: RealField + Copy> Shape<N> for TriMesh<N>
sourcefn local_aabb(&self) -> AABB<N>
fn local_aabb(&self) -> AABB<N>
The AABB of self
.
sourcefn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>
fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>
The bounding sphere of self
transformed by m
.
sourcefn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
The RayCast
implementation of self
.
sourcefn as_point_query(&self) -> Option<&dyn PointQuery<N>>
fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
The PointQuery
implementation of self
.
sourcefn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
The composite shape representation of self
if applicable.
sourcefn is_composite_shape(&self) -> bool
fn is_composite_shape(&self) -> bool
Whether self
uses a composite shape-based representation.
sourcefn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
The deformable shape representation of self
if applicable.
sourcefn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
The mutable deformable shape representation of self
if applicable.
sourcefn is_deformable_shape(&self) -> bool
fn is_deformable_shape(&self) -> bool
Whether self
uses a composite shape-based representation.
sourcefn tangent_cone_contains_dir(
&self,
fid: FeatureId,
m: &Isometry<N>,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> bool
fn tangent_cone_contains_dir(
&self,
fid: FeatureId,
m: &Isometry<N>,
deformations: Option<&[N]>,
dir: &Unit<Vector<N>>
) -> 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
. Read more
sourcefn subshape_containing_feature(&self, id: FeatureId) -> usize
fn subshape_containing_feature(&self, id: FeatureId) -> usize
Returns the id of the subshape containing the specified feature. Read more
sourcefn local_bounding_sphere(&self) -> BoundingSphere<N>
fn local_bounding_sphere(&self) -> BoundingSphere<N>
The bounding sphere of self
.
sourcefn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
The convex polyhedron representation of self
if applicable.
sourcefn as_support_map(&self) -> Option<&dyn SupportMap<N>>
fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
The support mapping of self
if applicable.
sourcefn is_convex_polyhedron(&self) -> bool
fn is_convex_polyhedron(&self) -> bool
Whether self
uses a convex polyhedron representation.
sourcefn is_support_map(&self) -> bool
fn is_support_map(&self) -> bool
Whether self
uses a support-mapping based representation.
Auto Trait Implementations
impl<N> RefUnwindSafe for TriMesh<N> where
N: RefUnwindSafe,
impl<N> Send for TriMesh<N>
impl<N> Sync for TriMesh<N>
impl<N> Unpin for TriMesh<N> where
N: Unpin,
impl<N> UnwindSafe for TriMesh<N> where
N: UnwindSafe,
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more