Struct parry3d::shape::Polyline

pub struct Polyline { /* fields omitted */ }

A polyline.

Implementations

impl Polyline

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this polyline.

impl Polyline

pub fn new(vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>>) -> Self

Creates a new polyline from a vertex buffer and an index buffer.

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

Compute the axis-aligned bounding box of this polyline.

pub fn local_aabb(&self) -> &AABB

Gets the local axis-aligned bounding box of this polyline.

pub fn num_segments(&self) -> usize

The number of segments forming this polyline.

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

An iterator through all the segments of this mesh.

pub fn segment(&self, i: u32) -> Segment

Get the i-th segment of this mesh.

pub fn segment_feature_to_polyline_feature(
    &self,
    segment: u32,
    _feature: FeatureId
) -> FeatureId

Transforms the feature-id of a segment to the feature-id of this polyline.

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

The vertex buffer of this mesh.

pub fn indices(&self) -> &[[u32; 2]]

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 Polyline

fn clone(&self) -> Polyline

Returns a copy of the value.

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

Performs copy-assignment from source.

impl PointQuery for Polyline

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 Polyline

type Location = (u32, SegmentPointLocation)

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 Polyline

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 Polyline

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 Polyline

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 Polyline

type PartShape = Segment

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>