Struct parry3d_f64::shape::Triangle [−][src]
Expand description
A triangle shape.
Fields
a: Point<Real>
Expand description
The triangle first point.
b: Point<Real>
Expand description
The triangle second point.
c: Point<Real>
Expand description
The triangle third point.
Implementations
impl Triangle
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impl Triangle
[src]pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
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pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
[src]Computes the world-space bounding sphere of this triangle, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the local-space bounding sphere of this triangle.
impl Triangle
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impl Triangle
[src]pub fn new(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Triangle
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pub fn new(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Triangle
[src]Creates a triangle from three points.
pub fn from_array(arr: &[Point<Real>; 3]) -> &Triangle
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pub fn from_array(arr: &[Point<Real>; 3]) -> &Triangle
[src]Creates the reference to a triangle from the reference to an array of three points.
pub fn vertices(&self) -> &[Point<Real>; 3]
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pub fn vertices(&self) -> &[Point<Real>; 3]
[src]Reference to an array containing the three vertices of this triangle.
pub fn normal(&self) -> Option<Unit<Vector<Real>>>
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pub fn normal(&self) -> Option<Unit<Vector<Real>>>
[src]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 transformed(&self, m: &Isometry<Real>) -> Self
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pub fn transformed(&self, m: &Isometry<Real>) -> Self
[src]Returns a new triangle with vertices transformed by m
.
pub fn edges_scaled_directions(&self) -> [Vector<Real>; 3]
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pub fn edges_scaled_directions(&self) -> [Vector<Real>; 3]
[src]The three edges scaled directions of this triangle: [B - A, C - B, A - C].
pub fn local_support_edge_segment(&self, dir: Vector<Real>) -> Segment
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pub fn local_support_edge_segment(&self, dir: Vector<Real>) -> Segment
[src]Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
pub fn support_face(&self, _dir: Vector<Real>) -> PolygonalFeature
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pub fn support_face(&self, _dir: Vector<Real>) -> PolygonalFeature
[src]Return the face of this triangle with a normal that maximizes
the dot product with dir
.
pub fn scaled_normal(&self) -> Vector<Real>
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pub fn scaled_normal(&self) -> Vector<Real>
[src]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<Real>>) -> (Real, Real)
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pub fn extents_on_dir(&self, dir: &Unit<Vector<Real>>) -> (Real, Real)
[src]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 is_affinely_dependent(&self) -> bool
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pub fn is_affinely_dependent(&self) -> bool
[src]Tests if this triangle is affinely dependent, i.e., its points are almost aligned.
pub fn contains_point(&self, p: &Point<Real>) -> bool
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pub fn contains_point(&self, p: &Point<Real>) -> bool
[src]Tests if a point is inside of this triangle.
Trait Implementations
impl From<Triangle> for PolygonalFeature
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impl From<Triangle> for PolygonalFeature
[src]impl PointQuery for Triangle
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impl PointQuery for Triangle
[src]fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
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fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
[src]Projects a point on self
. Read more
fn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
[src]
fn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
[src]Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
[src]Computes the minimal distance between a point and self
.
fn contains_local_point(&self, pt: &Point<Real>) -> bool
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fn contains_local_point(&self, pt: &Point<Real>) -> bool
[src]Tests if the given point is inside of self
.
fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
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fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
[src]Projects a point on self
transformed by m
.
fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
[src]Computes the minimal distance between a point and self
transformed by m
.
impl PointQueryWithLocation for Triangle
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impl PointQueryWithLocation for Triangle
[src]type Location = TrianglePointLocation
type Location = TrianglePointLocation
Additional shape-specific projection information Read more
fn project_local_point_and_get_location(
&self,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
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fn project_local_point_and_get_location(
&self,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
[src]Projects a point on self
.
impl PolygonalFeatureMap for Triangle
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impl PolygonalFeatureMap for Triangle
[src]fn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
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fn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
[src]Compute the support polygonal face of self
towards the dir
.
impl RayCast for Triangle
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impl RayCast for Triangle
[src]fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
_: bool
) -> Option<RayIntersection>
[src]
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
_: bool
) -> Option<RayIntersection>
[src]Computes the time of impact, and normal between this transformed shape and a ray.
fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
[src]Computes the time of impact between this transform shape and a ray.
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
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fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
[src]Tests whether a ray intersects this transformed shape.
fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
[src]Computes the time of impact between this transform shape and a ray.
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
[src]
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
[src]Computes the time of impact, and normal between this transformed shape and a ray.
impl Shape for Triangle
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impl Shape for Triangle
[src]fn compute_local_aabb(&self) -> AABB
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fn compute_local_aabb(&self) -> AABB
[src]Computes the AABB of this shape.
fn compute_local_bounding_sphere(&self) -> BoundingSphere
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fn compute_local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the bounding-sphere of this shape.
fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
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fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
[src]Computes the AABB of this shape with the given position.
fn mass_properties(&self, _density: Real) -> MassProperties
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fn mass_properties(&self, _density: Real) -> MassProperties
[src]Compute the mass-properties of this shape given its uniform density.
fn shape_type(&self) -> ShapeType
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fn shape_type(&self) -> ShapeType
[src]Gets the type tag of this shape.
fn as_typed_shape(&self) -> TypedShape<'_>
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fn as_typed_shape(&self) -> TypedShape<'_>
[src]Gets the underlying shape as an enum.
fn ccd_thickness(&self) -> Real
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fn ccd_angular_thickness(&self) -> Real
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fn as_support_map(&self) -> Option<&dyn SupportMap>
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fn as_support_map(&self) -> Option<&dyn SupportMap>
[src]Convents this shape into its support mapping, if it has one.
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
[src]Converts this shape to a polygonal feature-map, if it is one.
fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
[src]Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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impl SupportMap for Triangle
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impl SupportMap for Triangle
[src]fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>
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fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>
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fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>
[src]Same as self.local_support_point
except that dir
is normalized.
fn support_point(
&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
[src]
&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
impl Copy for Triangle
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impl StructuralPartialEq for Triangle
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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
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]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
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]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
pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]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
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
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pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
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impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more