Struct parry3d::shape::ConvexPolyhedron [−][src]
A convex polyhedron without degenerate faces.
Implementations
impl ConvexPolyhedron
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pub fn aabb(&self, pos: &Isometry<Real>) -> AABB
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Computes the world-space AABB of this convex polyhedron, transformed by pos
.
pub fn local_aabb(&self) -> AABB
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Computes the local-space AABB of this convex polyhedron.
impl ConvexPolyhedron
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pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
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Computes the world-space bounding sphere of this convex polyhedron, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the local-space bounding sphere of this convex polyhedron.
impl ConvexPolyhedron
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pub fn from_convex_hull(points: &[Point<Real>]) -> Option<ConvexPolyhedron>
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Creates a new 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 from_convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<ConvexPolyhedron>
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points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<ConvexPolyhedron>
Attempts to create a new solid assumed to be convex from the set of points and indices.
The given points and index information are assumed to describe a convex polyhedron. It it is not, weird results may be produced.
Return
Retruns None
if he given solid is not manifold (contains t-junctions, not closed, etc.)
pub fn check_geometry(&self)
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Verify if this convex polyhedron is actually convex.
pub fn points(&self) -> &[Point<Real>]
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The set of vertices of this convex polyhedron.
pub fn vertices(&self) -> &[Vertex]
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The topology of the vertices of this convex polyhedron.
pub fn edges(&self) -> &[Edge]
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The topology of the edges of this convex polyhedron.
pub fn faces(&self) -> &[Face]
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The topology of the faces of this convex polyhedron.
pub fn vertices_adj_to_face(&self) -> &[u32]
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The array containing the indices of the vertices adjacent to each face.
pub fn edges_adj_to_face(&self) -> &[u32]
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The array containing the indices of the edges adjacent to each face.
pub fn faces_adj_to_vertex(&self) -> &[u32]
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The array containing the indices of the faces adjacent to each vertex.
pub fn support_feature_id_toward(
&self,
local_dir: &Unit<Vector<Real>>
) -> FeatureId
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&self,
local_dir: &Unit<Vector<Real>>
) -> FeatureId
Computes the ID of the features with a normal that maximize the dot-product with local_dir
.
impl ConvexPolyhedron
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pub fn to_trimesh(&self) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)
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Discretize the boundary of this convex polyhedron as a triangle-mesh.
Trait Implementations
impl Clone for ConvexPolyhedron
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fn clone(&self) -> ConvexPolyhedron
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pub fn clone_from(&mut self, source: &Self)
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impl Debug for ConvexPolyhedron
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impl PartialEq<ConvexPolyhedron> for ConvexPolyhedron
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fn eq(&self, other: &ConvexPolyhedron) -> bool
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fn ne(&self, other: &ConvexPolyhedron) -> bool
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impl PointQuery for ConvexPolyhedron
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fn project_local_point(
&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
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fn contains_local_point(&self, pt: &Point<Real>) -> bool
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fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool
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impl PolygonalFeatureMap for ConvexPolyhedron
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fn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
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&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
impl RayCast for ConvexPolyhedron
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fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
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fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool
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impl Shape for ConvexPolyhedron
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fn clone_box(&self) -> Box<dyn Shape>
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fn compute_local_aabb(&self) -> AABB
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fn compute_local_bounding_sphere(&self) -> BoundingSphere
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fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
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fn mass_properties(&self, density: Real) -> MassProperties
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fn is_convex(&self) -> bool
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fn shape_type(&self) -> ShapeType
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fn as_typed_shape(&self) -> TypedShape<'_>
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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_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
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&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
impl StructuralPartialEq for ConvexPolyhedron
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impl SupportMap for ConvexPolyhedron
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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 support_point(
&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
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&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
fn support_point_toward(
&self,
transform: &Isometry<Real>,
dir: &Unit<Vector<Real>>
) -> Point<Real>
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&self,
transform: &Isometry<Real>,
dir: &Unit<Vector<Real>>
) -> Point<Real>
Auto Trait Implementations
impl RefUnwindSafe for ConvexPolyhedron
impl Send for ConvexPolyhedron
impl Sync for ConvexPolyhedron
impl Unpin for ConvexPolyhedron
impl UnwindSafe for ConvexPolyhedron
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,