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) -> &QBVH<u32>

The acceleration structure used by this triangle-mesh.

pub fn num_triangles(&self) -> usize

The number of triangles forming this mesh.

pub fn is_backface(&self, feature: FeatureId) -> bool

Does the given feature ID identify a backface of this trimesh?

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.

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 clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere 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 as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

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

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

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.

fn compute_swept_aabb(
    &self,
    start_pos: &Isometry<Real>,
    end_pos: &Isometry<Real>
) -> AABB

Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.

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) -> &QBVH<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,
    f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)

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

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