Struct parry3d::shape::ConvexPolyhedron [−][src]
pub struct ConvexPolyhedron { /* fields omitted */ }
Expand description
A convex polyhedron without degenerate faces.
Implementations
impl ConvexPolyhedron
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impl ConvexPolyhedron
[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 convex polyhedron, 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 convex polyhedron.
impl ConvexPolyhedron
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impl ConvexPolyhedron
[src]pub fn from_convex_hull(points: &[Point<Real>]) -> Option<ConvexPolyhedron>
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pub fn from_convex_hull(points: &[Point<Real>]) -> Option<ConvexPolyhedron>
[src]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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pub fn from_convex_mesh(
points: Vec<Point<Real>>,
indices: &[[u32; 3]]
) -> Option<ConvexPolyhedron>
[src]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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pub fn check_geometry(&self)
[src]Verify if this convex polyhedron is actually convex.
pub fn vertices_adj_to_face(&self) -> &[u32]
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pub fn vertices_adj_to_face(&self) -> &[u32]
[src]The array containing the indices of the vertices adjacent to each face.
pub fn edges_adj_to_face(&self) -> &[u32]
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pub fn edges_adj_to_face(&self) -> &[u32]
[src]The array containing the indices of the edges adjacent to each face.
pub fn faces_adj_to_vertex(&self) -> &[u32]
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pub fn faces_adj_to_vertex(&self) -> &[u32]
[src]The array containing the indices of the faces adjacent to each vertex.
Trait Implementations
impl Clone for ConvexPolyhedron
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impl Clone for ConvexPolyhedron
[src]fn clone(&self) -> ConvexPolyhedron
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fn clone(&self) -> ConvexPolyhedron
[src]Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0[src]
fn clone_from(&mut self, source: &Self)
1.0.0[src]Performs copy-assignment from source
. Read more
impl Debug for ConvexPolyhedron
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impl Debug for ConvexPolyhedron
[src]impl PartialEq<ConvexPolyhedron> for ConvexPolyhedron
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impl PartialEq<ConvexPolyhedron> for ConvexPolyhedron
[src]fn eq(&self, other: &ConvexPolyhedron) -> bool
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fn eq(&self, other: &ConvexPolyhedron) -> bool
[src]This method tests for self
and other
values to be equal, and is used
by ==
. Read more
fn ne(&self, other: &ConvexPolyhedron) -> bool
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fn ne(&self, other: &ConvexPolyhedron) -> bool
[src]This method tests for !=
.
impl PointQuery for ConvexPolyhedron
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impl PointQuery for ConvexPolyhedron
[src]fn project_local_point(
&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
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fn project_local_point(
&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
[src]Projects a point on self
. Read more
fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
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fn project_local_point_and_get_feature(
&self,
point: &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 PolygonalFeatureMap for ConvexPolyhedron
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impl PolygonalFeatureMap for ConvexPolyhedron
[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 ConvexPolyhedron
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impl RayCast for ConvexPolyhedron
[src]fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: 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>
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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 ConvexPolyhedron
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impl Shape for ConvexPolyhedron
[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 ConvexPolyhedron
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impl SupportMap for ConvexPolyhedron
[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>
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&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
impl StructuralPartialEq for ConvexPolyhedron
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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> 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)
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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
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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