Struct rapier3d::geometry::Triangle

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#[repr(C)]pub struct Triangle {
    pub a: OPoint<f32, Const<3_usize>>,
    pub b: OPoint<f32, Const<3_usize>>,
    pub c: OPoint<f32, Const<3_usize>>,
}

Expand description

A triangle shape.

Fields

a: OPoint<f32, Const<3_usize>>

The triangle first point.

b: OPoint<f32, Const<3_usize>>

The triangle second point.

c: OPoint<f32, Const<3_usize>>

The triangle third point.

Implementations

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impl Triangle

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pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

Computes the world-space AABB of this triangle, transformed by pos.

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pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this triangle.

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impl Triangle

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pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

Computes the world-space bounding sphere of this triangle, transformed by pos.

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle.

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impl Triangle

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pub fn new(
 a: OPoint<f32, Const<3_usize>>,
 b: OPoint<f32, Const<3_usize>>,
 c: OPoint<f32, Const<3_usize>>
) -> Triangle

Creates a triangle from three points.

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pub fn from_array(arr: &[OPoint<f32, Const<3_usize>>; 3]) -> &Triangle

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

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pub fn vertices(&self) -> &[OPoint<f32, Const<3_usize>>; 3]

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

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pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

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).

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

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

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pub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Triangle

Computes a scaled version of this triangle.

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pub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Triangle

Returns a new triangle with vertices transformed by m.

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pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]

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

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pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment

Return the edge segment of this cuboid with a normal cone containing a direction that that maximizes the dot product with local_dir.

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pub fn support_face(
&self,
_dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature

Return the face of this triangle with a normal that maximizes the dot product with dir.

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pub fn scaled_normal(
&self
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

A vector normal of this triangle.

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

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pub fn extents_on_dir(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> (f32, f32 )

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.

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pub fn area(&self) -> f32

The area of this triangle.

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pub fn center(&self) -> OPoint<f32, Const<3_usize>>

The geometric center of this triangle.

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pub fn perimeter(&self) -> f32

The perimeter of this triangle.

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pub fn circumcircle(&self) -> (OPoint<f32, Const<3_usize>>, f32 )

The circumcircle of this triangle.

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pub fn is_affinely_dependent(&self) -> bool

Tests if this triangle is affinely dependent, i.e., its points are almost aligned.

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pub fn is_affinely_dependent_eps(&self, eps: f32) -> bool

Is this triangle degenerate or almost degenerate?

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pub fn contains_point(&self, p: &OPoint<f32, Const<3_usize>>) -> bool

Tests if a point is inside of this triangle.

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pub fn feature_normal(
&self,
FeatureId
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The normal of the given feature of this shape.

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pub fn orientation2d(
 a: &OPoint<f32, Const<2_usize>>,
 b: &OPoint<f32, Const<2_usize>>,
 c: &OPoint<f32, Const<2_usize>>,
 epsilon: f32
) -> TriangleOrientation

The orientation of the 2D triangle, based on its signed area.

Returns TriangleOrientation::Degenerate if the triangle’s area is smaller than epsilon.

Trait Implementations

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impl Clone for Triangle

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fn clone(&self) -> Triangle

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for Triangle

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

Formats the value using the given formatter. Read more

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impl Default for Triangle

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fn default() -> Triangle

Returns the “default value” for a type. Read more

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impl From<[OPoint<f32, Const<3_usize>>; 3]> for Triangle

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fn from(arr: [OPoint<f32, Const<3_usize>>; 3]) -> Triangle

Converts to this type from the input type.

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impl From<Triangle> for PolygonalFeature

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fn from(tri: Triangle) -> PolygonalFeature

Converts to this type from the input type.

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impl PartialEq<Triangle> for Triangle

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

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

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

This method tests for !=.

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impl PointQuery for Triangle

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fn project_local_point(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> PointProjection

Projects a point on self. Read more

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fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

Projects a point on the boundary of self and returns the id of the feature the point was projected on. Read more

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fn project_local_point_with_max_dist(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool,
 max_dist: f32
) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more

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fn project_point_with_max_dist(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool,
 max_dist: f32
) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

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fn distance_to_local_point(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> f32

Computes the minimal distance between a point and self.

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fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool

Tests if the given point is inside of self.

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fn project_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> PointProjection

Projects a point on self transformed by m.

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fn distance_to_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> f32

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

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fn project_point_and_get_feature(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

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

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fn contains_point(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>
) -> bool

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

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impl PointQueryWithLocation for Triangle

type Location = TrianglePointLocation

Additional shape-specific projection information Read more

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fn project_local_point_and_get_location(
 &self,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location )

Projects a point on self.

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fn project_point_and_get_location(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 pt: &OPoint<f32, Const<3_usize>>,
 solid: bool
) -> (PointProjection, Self::Location )

Projects a point on self transformed by m.

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impl PolygonalFeatureMap for Triangle

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fn local_support_feature(
 &self,
 dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
 out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

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impl RayCast for Triangle

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fn cast_local_ray_and_get_normal(
 &self,
 ray: &Ray,
 max_toi: f32,
 bool
) -> Option<RayIntersection>

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

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fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

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

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fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

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fn cast_ray(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32,
 solid: bool
) -> Option<f32>

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

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fn cast_ray_and_get_normal(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32,
 solid: bool
) -> Option<RayIntersection>

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

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fn intersects_ray(
 &self,
 m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 ray: &Ray,
 max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

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impl Shape for Triangle

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fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

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fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

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fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the AABB of this shape with the given position.

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

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

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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more

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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

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fn ccd_thickness(&self) -> f32

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fn ccd_angular_thickness(&self) -> f32

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

Convents this shape into its support mapping, if it has one.

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

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

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fn feature_normal_at_point(
 &self,
 feature: FeatureId,
 _point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The shape’s normal at the given point located on a specific feature.

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fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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fn compute_swept_aabb(
 &self,
 start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position. Read more

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impl SupportMap for Triangle

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fn local_support_point(
&self,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

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fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

Same as self.local_support_point except that dir is normalized.

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fn support_point(
 &self,
 transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

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fn support_point_toward(
 &self,
 transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
 dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

Same as self.support_point except that dir is normalized.

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impl Copy for Triangle

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impl StructuralPartialEq for Triangle

Auto Trait Implementations

impl RefUnwindSafe for Triangle

impl Send for Triangle

impl Sync for Triangle

impl Unpin for Triangle

impl UnwindSafe for Triangle

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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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

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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

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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

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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

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::()

The alignment of pointer.

type Init = T

The type for initializers.

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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Struct rapier3d::geometry::Triangle

Fields

Implementations

impl Triangle

pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

pub fn local_aabb(&self) -> AABB

impl Triangle

pub fn bounding_sphere( &self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> BoundingSphere

pub fn local_bounding_sphere(&self) -> BoundingSphere

impl Triangle

pub fn new( a: OPoint<f32, Const<3_usize>>, b: OPoint<f32, Const<3_usize>>, c: OPoint<f32, Const<3_usize>>) -> Triangle

pub fn from_array(arr: &[OPoint<f32, Const<3_usize>>; 3]) -> &Triangle

pub fn vertices(&self) -> &[OPoint<f32, Const<3_usize>>; 3]

pub fn normal( &self) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

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

pub fn scaled( self, scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>) -> Triangle

pub fn transformed( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> Triangle

pub fn edges_scaled_directions( &self) -> [Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]

pub fn local_support_edge_segment( &self, dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>) -> Segment

pub fn support_face( &self, _dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>) -> PolygonalFeature

pub fn scaled_normal( &self) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn extents_on_dir( &self, dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>) -> (f32, f32)

pub fn area(&self) -> f32

pub fn center(&self) -> OPoint<f32, Const<3_usize>>

pub fn perimeter(&self) -> f32

pub fn circumcircle(&self) -> (OPoint<f32, Const<3_usize>>, f32)

pub fn is_affinely_dependent(&self) -> bool

pub fn is_affinely_dependent_eps(&self, eps: f32) -> bool

pub fn contains_point(&self, p: &OPoint<f32, Const<3_usize>>) -> bool

pub fn feature_normal( &self, FeatureId) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn orientation2d( a: &OPoint<f32, Const<2_usize>>, b: &OPoint<f32, Const<2_usize>>, c: &OPoint<f32, Const<2_usize>>, epsilon: f32) -> TriangleOrientation

Trait Implementations

impl Clone for Triangle

fn clone(&self) -> Triangle

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

impl Debug for Triangle

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

impl Default for Triangle

fn default() -> Triangle

impl From<[OPoint<f32, Const<3_usize>>; 3]> for Triangle

fn from(arr: [OPoint<f32, Const<3_usize>>; 3]) -> Triangle

impl From<Triangle> for PolygonalFeature

fn from(tri: Triangle) -> PolygonalFeature

impl PartialEq<Triangle> for Triangle

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

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

impl PointQuery for Triangle

fn project_local_point( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> PointProjection

fn project_local_point_and_get_feature( &self, pt: &OPoint<f32, Const<3_usize>>) -> (PointProjection, FeatureId)

fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool, max_dist: f32) -> Option<PointProjection>

fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool, max_dist: f32) -> Option<PointProjection>

fn distance_to_local_point( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> f32

fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool

fn project_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> PointProjection

fn distance_to_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> f32

fn project_point_and_get_feature( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>) -> (PointProjection, FeatureId)

fn contains_point( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>) -> bool

impl PointQueryWithLocation for Triangle

type Location = TrianglePointLocation

fn project_local_point_and_get_location( &self, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)

fn project_point_and_get_location( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pt: &OPoint<f32, Const<3_usize>>, solid: bool) -> (PointProjection, Self::Location)

impl PolygonalFeatureMap for Triangle

fn local_support_feature( &self, dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, out_feature: &mut PolygonalFeature)

impl RayCast for Triangle

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: f32, bool) -> Option<RayIntersection>

fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

fn cast_ray( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

fn cast_ray_and_get_normal( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32, solid: bool) -> Option<RayIntersection>

fn intersects_ray( &self, m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, ray: &Ray, max_toi: f32) -> bool

impl Shape for Triangle

fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

fn compute_local_aabb(&self) -> AABB

fn compute_local_bounding_sphere(&self) -> BoundingSphere

fn compute_aabb( &self, position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn as_typed_shape(&self) -> TypedShape<'_>

fn ccd_thickness(&self) -> f32

pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

pub fn new(
a: OPoint<f32, Const<3_usize>>,
b: OPoint<f32, Const<3_usize>>,
c: OPoint<f32, Const<3_usize>>
) -> Triangle

pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

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

pub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Triangle

pub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Triangle

pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]

pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment

pub fn support_face(
&self,
_dir: Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature

pub fn scaled_normal(
&self
) -> Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

pub fn extents_on_dir(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> (f32, f32 )

pub fn circumcircle(&self) -> (OPoint<f32, Const<3_usize>>, f32 )

pub fn feature_normal(
&self,
FeatureId
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

pub fn orientation2d(
a: &OPoint<f32, Const<2_usize>>,
b: &OPoint<f32, Const<2_usize>>,
c: &OPoint<f32, Const<2_usize>>,
epsilon: f32
) -> TriangleOrientation

fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection

fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>

fn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>

fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32

fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection

fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32

fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId )

fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> bool

fn project_local_point_and_get_location(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location )

fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location )

fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)

fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
bool
) -> Option<RayIntersection>

fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>

fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>

fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool

fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

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

fn feature_normal_at_point(
&self,
feature: FeatureId,
_point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere

fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

fn local_support_point(
&self,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>

fn support_point_toward(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,