#[repr(C)]pub struct Triangle {
pub a: OPoint<f32, Const<3_usize>>,
pub b: OPoint<f32, Const<3_usize>>,
pub c: OPoint<f32, Const<3_usize>>,
}
Expand description
A triangle shape.
Fields
a: OPoint<f32, Const<3_usize>>
The triangle first point.
b: OPoint<f32, Const<3_usize>>
The triangle second point.
c: OPoint<f32, Const<3_usize>>
The triangle third point.
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 triangle, transformed by pos
.
Computes the local-space bounding sphere of this triangle.
Creates a triangle from three points.
Creates the reference to a triangle from the reference to an array of three points.
Reference to an array containing the three vertices of this triangle.
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).
Returns a new triangle with vertices transformed by m
.
pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]
pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]
The three edges scaled directions of this triangle: [B - A, C - B, A - C].
pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
pub fn support_face(
&self,
_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
pub fn support_face(
&self,
_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
Return the face of this triangle with a normal that maximizes
the dot product with dir
.
pub fn scaled_normal(
&self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
pub fn scaled_normal(
&self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
A vector normal of this triangle.
The vector points such that it is collinear to AB × AC
(where ×
denotes the cross
product).
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
.
The circumcircle of this triangle.
Tests if this triangle is affinely dependent, i.e., its points are almost aligned.
Tests if a point is inside of this triangle.
Trait Implementations
Performs the conversion.
pub fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
pub fn project_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
pub fn project_local_point_and_get_feature(
&self,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
pub fn project_local_point_and_get_feature(
&self,
pt: &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
type Location = TrianglePointLocation
type Location = TrianglePointLocation
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
pub fn project_local_point_and_get_location(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
Projects a point on self
.
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location)
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location)
Projects a point on self
transformed by m
.
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,
bool
) -> Option<RayIntersection>
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
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 Triangle
impl UnwindSafe for Triangle
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.