parry3d 0.4.1

3 dimensional collision detection library in Rust.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156

//! Utilities useful for various generations tasks.

use crate::math::{Isometry, Point, Real, Vector};
use crate::na::ComplexField;
#[cfg(feature = "dim3")]
use {crate::math::DIM, num::Zero};

pub fn transformed(mut points: Vec<Point<Real>>, m: Isometry<Real>) -> Vec<Point<Real>> {
    points.iter_mut().for_each(|p| *p = m * *p);
    points
}

pub fn scaled(mut points: Vec<Point<Real>>, scale: Vector<Real>) -> Vec<Point<Real>> {
    points
        .iter_mut()
        .for_each(|p| p.coords.component_mul_assign(&scale));
    points
}

// FIXME: remove that in favor of `push_xy_circle` ?
/// Pushes a discretized counterclockwise circle to a buffer.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_circle(radius: Real, nsubdiv: u32, dtheta: Real, y: Real, out: &mut Vec<Point<Real>>) {
    let mut curr_theta = Real::zero();

    for _ in 0..nsubdiv {
        out.push(Point::new(
            ComplexField::cos(curr_theta) * radius,
            y.clone(),
            ComplexField::sin(curr_theta) * radius,
        ));
        curr_theta = curr_theta + dtheta;
    }
}

/// Pushes a discretized counterclockwise circle to a buffer.
/// The circle is contained on the plane spanned by the `x` and `y` axis.
#[inline]
#[cfg(feature = "dim2")]
pub fn push_xy_arc(radius: Real, nsubdiv: u32, dtheta: Real, out: &mut Vec<Point<Real>>) {
    let mut curr_theta: Real = 0.0;

    for _ in 0..nsubdiv {
        let mut pt_coords = Vector::zeros();

        pt_coords[0] = ComplexField::cos(curr_theta) * radius;
        pt_coords[1] = ComplexField::sin(curr_theta) * radius;
        out.push(Point::from(pt_coords));

        curr_theta = curr_theta + dtheta;
    }
}

/// Creates the faces from two circles with the same discretization.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_ring_indices(
    base_lower_circle: u32,
    base_upper_circle: u32,
    nsubdiv: u32,
    out: &mut Vec<[u32; DIM]>,
) {
    push_open_ring_indices(base_lower_circle, base_upper_circle, nsubdiv, out);

    // adjust the last two triangles
    push_rectangle_indices(
        base_upper_circle,
        base_upper_circle + nsubdiv - 1,
        base_lower_circle,
        base_lower_circle + nsubdiv - 1,
        out,
    );
}

/// Creates the faces from two circles with the same discretization.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_open_ring_indices(
    base_lower_circle: u32,
    base_upper_circle: u32,
    nsubdiv: u32,
    out: &mut Vec<[u32; DIM]>,
) {
    assert!(nsubdiv > 0);

    for i in 0..nsubdiv - 1 {
        let bli = base_lower_circle + i;
        let bui = base_upper_circle + i;
        push_rectangle_indices(bui + 1, bui, bli + 1, bli, out);
    }
}

/// Creates the faces from a circle and a point that is shared by all triangle.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_degenerate_top_ring_indices(
    base_circle: u32,
    point: u32,
    nsubdiv: u32,
    out: &mut Vec<[u32; DIM]>,
) {
    push_degenerate_open_top_ring_indices(base_circle, point, nsubdiv, out);

    out.push([base_circle + nsubdiv - 1, point, base_circle]);
}

/// Creates the faces from a circle and a point that is shared by all triangle.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_degenerate_open_top_ring_indices(
    base_circle: u32,
    point: u32,
    nsubdiv: u32,
    out: &mut Vec<[u32; DIM]>,
) {
    assert!(nsubdiv > 0);

    for i in 0..nsubdiv - 1 {
        out.push([base_circle + i, point, base_circle + i + 1]);
    }
}

/// Pushes indices so that a circle is filled with triangles. Each triangle will have the
/// `base_circle` point in common.
/// Pushes `nsubdiv - 2` elements to `out`.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_filled_circle_indices(base_circle: u32, nsubdiv: u32, out: &mut Vec<[u32; DIM]>) {
    for i in base_circle + 1..base_circle + nsubdiv - 1 {
        out.push([base_circle, i, i + 1]);
    }
}

/// Given four corner points, pushes to two counterclockwise triangles to `out`.
///
/// # Arguments:
/// * `ul` - the up-left point.
/// * `dl` - the down-left point.
/// * `dr` - the down-left point.
/// * `ur` - the up-left point.
#[cfg(feature = "dim3")]
#[inline]
pub fn push_rectangle_indices(ul: u32, ur: u32, dl: u32, dr: u32, out: &mut Vec<[u32; DIM]>) {
    out.push([ul.clone(), dl, dr.clone()]);
    out.push([dr, ur, ul]);
}

/// Reverses the clockwising of a set of faces.
#[cfg(feature = "dim3")]
#[inline]
pub fn reverse_clockwising(indices: &mut [[u32; DIM]]) {
    for i in indices.iter_mut() {
        i.swap(0, 1);
    }
}