Struct ncollide3d::shape::ConvexHull

pub struct ConvexHull<N: Real> { /* fields omitted */ }

A convex polyhedron without degenerate faces.

Methods

impl<N: Real> ConvexHull<N>

pub fn try_from_points(points: &[Point<N>]) -> Option<ConvexHull<N>>

Creates a new 2D convex polyhedron from an arbitrary set of points.

This explicitly computes the convex hull of the given set of points. Use Returns None if the convex hull computation failed.

pub fn try_new(     points: Vec<Point<N>>,     indices: &[usize] ) -> Option<ConvexHull<N>>

Attempts to create a new solid assumed to be convex from the set of points and indices.

The given points and index informations are assumed to describe a convex polyhedron. It it is not, weird results may be produced.

Return

Retruns None if:

1. The given solid does not satisfy the euler characteristic.
2. The given solid contains degenerate edges/triangles.

pub fn check_geometry(&self)

Verify if this convex polyhedron is actually convex.

pub fn points(&self) -> &[Point<N>]

The set of vertices of this convex polyhedron.

Trait Implementations

impl<N: Real> HasBoundingVolume<N, AABB<N>> for ConvexHull<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

impl<N: Real> HasBoundingVolume<N, BoundingSphere<N>> for ConvexHull<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

impl<N: Real> PointQuery<N> for ConvexHull<N>

fn project_point(     &self,     m: &Isometry<N>,     point: &Point<N>,     solid: bool ) -> PointProjection<N>

Projects a point on self transformed by m.

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.

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.

fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool

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

impl<N: Real> RayCast<N> for ConvexHull<N>

fn toi_and_normal_with_ray(     &self,     m: &Isometry<N>,     ray: &Ray<N>,     solid: bool ) -> Option<RayIntersection<N>>

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

fn toi_with_ray(&self, m: &Isometry<N>, ray: &Ray<N>, solid: bool) -> Option<N>

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>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>) -> bool

Tests whether a ray intersects this transformed shape.

impl<N: PartialEq + Real> PartialEq for ConvexHull<N>

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

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

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

This method tests for !=.

impl<N: Debug + Real> Debug for ConvexHull<N>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<N: Clone + Real> Clone for ConvexHull<N>

fn clone(&self) -> ConvexHull<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Real> SupportMap<N> for ConvexHull<N>

fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N>

Evaluates the support function of the object.

fn support_point_toward(     &self,     transform: &Isometry<N>,     dir: &Unit<Vector<N>> ) -> Point<N>

Same as self.support_point except that dir is normalized.

impl<N: Real> ConvexPolyhedron<N> for ConvexHull<N>

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

Gets the specified vertex in the shape local-space.

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

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

fn face(&self, id: FeatureId, out: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape's local-space.

fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>

Get the normal cone of the specified feature, in the shape's local-space.

fn support_face_toward(     &self,     m: &Isometry<N>,     dir: &Unit<Vector<N>>,     out: &mut ConvexPolygonalFeature<N> )

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

fn support_feature_toward(     &self,     transform: &Isometry<N>,     dir: &Unit<Vector<N>>,     _angle: N,     out: &mut ConvexPolygonalFeature<N> )

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

fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId

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

impl<N: Real> Shape<N> for ConvexHull<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self.

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

The RayCast implementation of self.

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

The PointQuery implementation of self.

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

The support mapping of self if applicable.

fn is_support_map(&self) -> bool

Whether self uses a supportmapping-based representation.

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

The convex polyhedron representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a conve polyhedron representation.

fn subshape_transform(&self, _: usize) -> Option<Isometry<N>>

The transform of a specific subshape.

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

The composite shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.