Struct parry3d::shape::TriMesh

pub struct TriMesh { /* fields omitted */ }

A triangle mesh.

Implementations

impl TriMesh

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle mesh.

impl TriMesh

pub fn new(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self

Creates a new triangle mesh from a vertex buffer and an index buffer.

pub fn aabb(&self, pos: &Isometry<Real>) -> AABB

Compute the axis-aligned bounding box of this triangle mesh.

pub fn local_aabb(&self) -> &AABB

Gets the local axis-aligned bounding box of this triangle mesh.

pub fn quadtree(&self) -> &SimdQuadTree<u32>

The acceleration structure used by this triangle-mesh.

pub fn num_triangles(&self) -> usize

The number of triangles forming this mesh.

pub fn triangles(&self) -> impl Iterator<Item = Triangle> + '_

An iterator through all the triangles of this mesh.

pub fn triangle(&self, i: u32) -> Triangle

Get the i-th triangle of this mesh.

pub fn vertices(&self) -> &[Point<Real>]

The vertex buffer of this mesh.

pub fn indices(&self) -> &[[u32; 3]]

The index buffer of this mesh.

pub fn flat_indices(&self) -> &[u32]

A flat view of the index buffer of this mesh.

Trait Implementations

impl Clone for TriMesh

fn clone(&self) -> TriMesh

Returns a copy of the value.

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

Performs copy-assignment from source.

impl From<Cuboid> for TriMesh

fn from(cuboid: Cuboid) -> Self

Performs the conversion.

impl From<HeightField> for TriMesh

fn from(heightfield: HeightField) -> Self

Performs the conversion.

impl PointQuery for TriMesh

fn project_local_point(
    &self,
    point: &Point<Real>,
    solid: bool
) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature(
    &self,
    point: &Point<Real>
) -> (PointProjection, FeatureId)

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

fn contains_local_point(&self, point: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

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

Projects a point on self transformed by m.

fn distance_to_point(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> Real

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

fn project_point_and_get_feature(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>
) -> (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.

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

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

impl PointQueryWithLocation for TriMesh

type Location = (u32, TrianglePointLocation)

Additional shape-specific projection information

fn project_local_point_and_get_location(
    &self,
    point: &Point<Real>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self.

fn project_point_and_get_location(
    &self,
    m: &Isometry<Real>,
    pt: &Point<Real>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl RayCast for TriMesh

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

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

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

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

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

Tests whether a ray intersects this transformed shape.

fn cast_ray(
    &self,
    m: &Isometry<Real>,
    ray: &Ray,
    max_toi: Real,
    solid: bool
) -> Option<Real>

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>

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

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

Tests whether a ray intersects this transformed shape.

impl Shape for TriMesh

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

Computes the AABB of this shape with the given position.

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

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

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn ccd_thickness(&self) -> Real

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

fn is_convex(&self) -> bool

Is this shape known to be convex?

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

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

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

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

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<Real>
) -> Option<Unit<Vector<Real>>>

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

impl SimdCompositeShape for TriMesh

fn map_part_at(
    &self,
    i: u32,
    f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape)
)

Applies a function to one sub-shape of this composite shape.

fn quadtree(&self) -> &SimdQuadTree<u32>

Gets the acceleration structure of the composite shape.

impl TypedSimdCompositeShape for TriMesh

type PartShape = Triangle

type PartId = u32

fn map_typed_part_at(
    &self,
    i: u32,
    mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)

fn map_untyped_part_at(
    &self,
    i: u32,
    mut f: impl FnMut(Option<&Isometry<Real>>, &dyn Shape)
)

fn typed_quadtree(&self) -> &SimdQuadTree<u32>