Struct rapier3d::geometry::TriMesh

pub struct TriMesh { /* private fields */ }

A triangle mesh.

Implementations

impl TriMesh

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> 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 canonical_split(
    &self,
    axis: usize,
    bias: f32,
    epsilon: f32
) -> SplitResult<TriMesh>

Splits this TriMesh along the given canonical axis.

This will split the AABB by a plane with a normal with it’s axis-th component set to 1. The splitting plane is shifted wrt. the origin by the bias (i.e. it passes through the point equal to normal * bias).

Result

Returns the result of the split. The first mesh returned is the piece lying on the negative half-space delimited by the splitting plane. The second mesh returned is the piece lying on the positive half-space delimited by the splitting plane.

pub fn split(
    &self,
    position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
    bias: f32,
    epsilon: f32
) -> SplitResult<TriMesh>

Splits this mesh, transformed by position by a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

pub fn local_split(
    &self,
    local_axis: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
    bias: f32,
    epsilon: f32
) -> SplitResult<TriMesh>

Splits this mesh by a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

pub fn intersection_with_aabb(
    &self,
    position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    flip_mesh: bool,
    aabb: &AABB,
    flip_cuboid: bool,
    epsilon: f32
) -> Option<TriMesh>

Computes the intersection mesh between an AABB and this mesh.

pub fn intersection_with_cuboid(
    &self,
    position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    flip_mesh: bool,
    cuboid: &Cuboid,
    cuboid_position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    flip_cuboid: bool,
    epsilon: f32
) -> Option<TriMesh>

Computes the intersection mesh between a cuboid and this mesh transformed by position.

pub fn intersection_with_local_cuboid(
    &self,
    flip_mesh: bool,
    cuboid: &Cuboid,
    cuboid_position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    flip_cuboid: bool,
    _epsilon: f32
) -> Option<TriMesh>

Computes the intersection mesh between a cuboid and this mesh.

impl TriMesh

pub fn new(
    vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
    indices: Vec<[u32; 3], Global>
) -> TriMesh

Creates a new triangle mesh from a vertex buffer and an index buffer.

pub fn with_flags(
    vertices: Vec<OPoint<f32, Const<3_usize>>, Global>,
    indices: Vec<[u32; 3], Global>,
    flags: TriMeshFlags
) -> TriMesh

Creates a new triangle mesh from a vertex buffer and an index buffer, and flags controlling optional properties.

pub fn flags(&self) -> TriMeshFlags

The flags of this triangle mesh.

pub fn set_flags(&mut self, flags: TriMeshFlags) -> Result<(), TopologyError>

Sets the flags of this triangle mesh, controlling its optional associated data.

pub fn transform_vertices(
    &mut self,
    transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)

Transforms in-place the vertices of this triangle mesh.

pub fn scaled(
    self,
    scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> TriMesh

Returns a scaled version of this triangle mesh.

pub fn append(&mut self, rhs: &TriMesh)

Appends a second triangle mesh to this triangle mesh.

pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> 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 qbvh(&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 ExactSizeIterator

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) -> &[OPoint<f32, Const<3_usize>>]

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.

pub fn topology(&self) -> Option<&TriMeshTopology>

Returns the topology information of this trimesh, if it has been computed.

pub fn connected_components(&self) -> Option<&TriMeshConnectedComponents>

Returns the connected-component information of this trimesh, if it has been computed.

pub fn pseudo_normals(&self) -> Option<&TriMeshPseudoNormals>

The pseudo-normals of this triangle mesh, if they have been computed.

pub fn reverse(&mut self)

Reverse the orientation of the triangle 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) -> TriMesh

Converts to this type from the input type.

impl<Heights, Status> From<GenericHeightField<Heights, Status>> for TriMesh where
    Heights: HeightFieldStorage<Item = f32>,
    Status: HeightFieldStorage<Item = HeightFieldCellStatus>, 

fn from(heightfield: GenericHeightField<Heights, Status>) -> TriMesh

Converts to this type from the input type.

impl PointQuery for TriMesh

fn project_local_point(
    &self,
    point: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> PointProjection

Projects a point on self.

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.

fn contains_local_point(&self, point: &OPoint<f32, Const<3_usize>>) -> bool

Tests if the given point is inside of self.

fn project_local_point_with_max_dist(
    &self,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool,
    max_dist: f32
) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_point_with_max_dist(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool,
    max_dist: f32
) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(
    &self,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self.

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.

fn distance_to_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> f32

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)

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<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &OPoint<f32, Const<3_usize>>
) -> 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: &OPoint<f32, Const<3_usize>>,
    solid: bool
) -> (PointProjection, <TriMesh 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)

Projects a point on self transformed by m.

impl RayCast for TriMesh

fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

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.

fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

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>

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

Tests whether a ray intersects this transformed shape.

impl Shape for TriMesh

fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the AABB of this shape with the given position.

fn mass_properties(&self, density: f32) -> 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) -> f32

fn ccd_angular_thickness(&self) -> f32

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

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 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, f32)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &OPoint<f32, Const<3_usize>>
) -> Option<Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

The shape’s normal at the given point located on a specific feature.

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.

impl SimdCompositeShape for TriMesh

fn map_part_at(
    &self,
    i: u32,
    f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Quaternion<f32>>, 3_usize>>, &(dyn Shape + 'static))
)

Applies a function to one sub-shape of this composite shape.

fn qbvh(&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<f32, Unit<Quaternion<f32>>, 3_usize>>, &<TriMesh as TypedSimdCompositeShape>::PartShape)
)

fn map_untyped_part_at(
    &self,
    i: u32,
    f: impl FnMut(Option<&Isometry<f32, Unit<Quaternion<f32>>, 3_usize>>, &(dyn Shape + 'static))
)

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