Struct rapier3d::geometry::ConvexPolyhedron [−][src]
pub struct ConvexPolyhedron { /* fields omitted */ }
Expand description
A convex polyhedron without degenerate faces.
Implementations
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this convex polyhedron, transformed by pos
.
Computes the local-space bounding sphere of this convex polyhedron.
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.
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.)
Verify if this convex polyhedron is actually convex.
The set of vertices of this convex polyhedron.
The array containing the indices of the vertices adjacent to each face.
The array containing the indices of the edges adjacent to each face.
The array containing the indices of the faces adjacent to each vertex.
pub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> FeatureId
pub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> FeatureId
Computes the ID of the features with a normal that maximize the dot-product with local_dir
.
Trait Implementations
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
This method tests for !=
.
pub fn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
pub fn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
pub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
pub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
Computes the minimal distance between a point and self
.
Tests if the given point is inside of self
.
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
Computes the minimal distance between a point and self
transformed by m
.
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (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. Read more
pub fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
pub fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
Compute the support polygonal face of self
towards the dir
.
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
Computes the time of impact between this transform shape and a ray.
Tests whether a ray intersects this transformed shape.
Computes the time of impact between this transform shape and a ray.
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
Tests whether a ray intersects this transformed shape.
Clones this shape into a boxed trait-object.
Computes the AABB of this shape.
Computes the bounding-sphere of this shape.
Computes the AABB of this shape with the given position.
Compute the mass-properties of this shape given its uniform density.
Gets the type tag of this shape.
Gets the underlying shape as an enum.
Convents this shape into its support mapping, if it has one.
Converts this shape to a polygonal feature-map, if it is one.
The shape’s normal at the given point located on a specific feature.
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> 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. Read more
pub fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
Same as self.local_support_point
except that dir
is normalized.
fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
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
Mutably borrows from an owned value. Read more
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
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
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
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
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.