Expand description
A triangle shape.
Fields
a: Point<Real>
The triangle first point.
b: Point<Real>
The triangle second point.
c: Point<Real>
The triangle third point.
Implementations
sourceimpl Triangle
impl Triangle
sourcepub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
Computes the world-space bounding sphere of this triangle, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this triangle.
sourceimpl Triangle
impl Triangle
sourcepub fn new(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Triangle
pub fn new(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Triangle
Creates a triangle from three points.
sourcepub fn from_array(arr: &[Point<Real>; 3]) -> &Triangle
pub fn from_array(arr: &[Point<Real>; 3]) -> &Triangle
Creates the reference to a triangle from the reference to an array of three points.
sourcepub fn vertices(&self) -> &[Point<Real>; 3]
pub fn vertices(&self) -> &[Point<Real>; 3]
Reference to an array containing the three vertices of this triangle.
sourcepub fn normal(&self) -> Option<Unit<Vector<Real>>>
pub fn normal(&self) -> Option<Unit<Vector<Real>>>
The normal of this triangle assuming it is oriented ccw.
The normal points such that it is collinear to AB × AC
(where ×
denotes the cross
product).
sourcepub fn transformed(&self, m: &Isometry<Real>) -> Self
pub fn transformed(&self, m: &Isometry<Real>) -> Self
Returns a new triangle with vertices transformed by m
.
sourcepub fn edges_scaled_directions(&self) -> [Vector<Real>; 3]
pub fn edges_scaled_directions(&self) -> [Vector<Real>; 3]
The three edges scaled directions of this triangle: [B - A, C - B, A - C].
sourcepub fn local_support_edge_segment(&self, dir: Vector<Real>) -> Segment
pub fn local_support_edge_segment(&self, dir: Vector<Real>) -> Segment
Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
sourcepub fn support_face(&self, _dir: Vector<Real>) -> PolygonalFeature
pub fn support_face(&self, _dir: Vector<Real>) -> PolygonalFeature
Return the face of this triangle with a normal that maximizes
the dot product with dir
.
sourcepub fn scaled_normal(&self) -> Vector<Real>
pub fn scaled_normal(&self) -> Vector<Real>
A vector normal of this triangle.
The vector points such that it is collinear to AB × AC
(where ×
denotes the cross
product).
sourcepub fn extents_on_dir(&self, dir: &Unit<Vector<Real>>) -> (Real, Real)
pub fn extents_on_dir(&self, dir: &Unit<Vector<Real>>) -> (Real, Real)
Computes the extents of this triangle on the given direction.
This computes the min and max values of the dot products between each
vertex of this triangle and dir
.
sourcepub fn is_affinely_dependent(&self) -> bool
pub fn is_affinely_dependent(&self) -> bool
Tests if this triangle is affinely dependent, i.e., its points are almost aligned.
sourcepub fn is_affinely_dependent_eps(&self, eps: Real) -> bool
pub fn is_affinely_dependent_eps(&self, eps: Real) -> bool
Is this triangle degenerate or almost degenerate?
sourcepub fn contains_point(&self, p: &Point<Real>) -> bool
pub fn contains_point(&self, p: &Point<Real>) -> bool
Tests if a point is inside of this triangle.
sourcepub fn feature_normal(&self, _: FeatureId) -> Option<Unit<Vector<Real>>>
pub fn feature_normal(&self, _: FeatureId) -> Option<Unit<Vector<Real>>>
The normal of the given feature of this shape.
sourcepub fn orientation2d(
a: &Point2<Real>,
b: &Point2<Real>,
c: &Point2<Real>,
epsilon: Real
) -> TriangleOrientation
pub fn orientation2d(
a: &Point2<Real>,
b: &Point2<Real>,
c: &Point2<Real>,
epsilon: Real
) -> TriangleOrientation
The orientation of the 2D triangle, based on its signed area.
Returns TriangleOrientation::Degenerate
if the triangle’s area is
smaller than epsilon
.
Trait Implementations
sourceimpl From<Triangle> for PolygonalFeature
impl From<Triangle> for PolygonalFeature
sourceimpl PointQuery for Triangle
impl PointQuery for Triangle
sourcefn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
fn project_local_point(&self, pt: &Point<Real>, solid: bool) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature(
&self,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
sourcefn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
Projects a point on self
, unless the projection lies further than the given max distance. Read more
sourcefn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
Projects a point on self
transformed by m
, unless the projection lies further than the given max distance.
sourcefn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &Point<Real>) -> bool
fn contains_local_point(&self, pt: &Point<Real>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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
.
sourceimpl PointQueryWithLocation for Triangle
impl PointQueryWithLocation for Triangle
type Location = TrianglePointLocation
type Location = TrianglePointLocation
Additional shape-specific projection information Read more
sourcefn project_local_point_and_get_location(
&self,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
fn project_local_point_and_get_location(
&self,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
Projects a point on self
.
sourceimpl PolygonalFeatureMap for Triangle
impl PolygonalFeatureMap for Triangle
sourcefn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
fn local_support_feature(
&self,
dir: &Unit<Vector<Real>>,
out_feature: &mut PolygonalFeature
)
Compute the support polygonal face of self
towards the dir
.
sourceimpl RayCast for Triangle
impl RayCast for Triangle
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
_: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
_: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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.
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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.
sourceimpl Shape for Triangle
impl Shape for Triangle
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
Computes the AABB of this shape.
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
Computes the bounding-sphere of this shape.
sourcefn compute_aabb(&self, position: &Isometry<Real>) -> AABB
fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, _density: Real) -> MassProperties
fn mass_properties(&self, _density: Real) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
Gets the type tag of this shape.
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
Gets the underlying shape as an enum.
fn ccd_thickness(&self) -> Real
fn ccd_angular_thickness(&self) -> Real
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
Convents this shape into its support mapping, if it has one.
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn feature_normal_at_point(
&self,
feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
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.
sourcefn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourceimpl SupportMap for Triangle
impl SupportMap for Triangle
fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>
sourcefn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>
fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>
Same as self.local_support_point
except that dir
is normalized.
fn support_point(
&self,
transform: &Isometry<Real>,
dir: &Vector<Real>
) -> Point<Real>
impl Copy for Triangle
impl StructuralPartialEq for Triangle
Auto Trait Implementations
impl RefUnwindSafe for Triangle
impl Send for Triangle
impl Sync for Triangle
impl Unpin for Triangle
impl UnwindSafe for Triangle
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more