Struct rapier3d::geometry::ConvexPolyhedron
source · [−]pub struct ConvexPolyhedron { /* private fields */ }
Expand description
A convex polyhedron without degenerate faces.
Implementations
sourceimpl ConvexPolyhedron
impl ConvexPolyhedron
sourcepub 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
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this convex polyhedron.
sourceimpl ConvexPolyhedron
impl ConvexPolyhedron
sourcepub fn from_convex_hull(
points: &[OPoint<f32, Const<3_usize>>]
) -> Option<ConvexPolyhedron>
pub fn from_convex_hull(
points: &[OPoint<f32, Const<3_usize>>]
) -> Option<ConvexPolyhedron>
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.
sourcepub fn from_convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]]
) -> Option<ConvexPolyhedron>
pub fn from_convex_mesh(
points: Vec<OPoint<f32, Const<3_usize>>, Global>,
indices: &[[u32; 3]]
) -> Option<ConvexPolyhedron>
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.)
sourcepub fn check_geometry(&self)
pub fn check_geometry(&self)
Verify if this convex polyhedron is actually convex.
sourcepub fn points(&self) -> &[OPoint<f32, Const<3_usize>>]
pub fn points(&self) -> &[OPoint<f32, Const<3_usize>>]
The set of vertices of this convex polyhedron.
sourcepub fn vertices_adj_to_face(&self) -> &[u32]
pub fn vertices_adj_to_face(&self) -> &[u32]
The array containing the indices of the vertices adjacent to each face.
sourcepub fn edges_adj_to_face(&self) -> &[u32]
pub fn edges_adj_to_face(&self) -> &[u32]
The array containing the indices of the edges adjacent to each face.
sourcepub fn faces_adj_to_vertex(&self) -> &[u32]
pub fn faces_adj_to_vertex(&self) -> &[u32]
The array containing the indices of the faces adjacent to each vertex.
sourcepub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Option<ConvexPolyhedron>
pub fn scaled(
self,
scale: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Option<ConvexPolyhedron>
Computes a scaled version of this convex polygon.
Returns None
if the result had degenerate normals (for example if
the scaling factor along one axis is zero).
sourcepub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> FeatureId
pub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<3_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
sourceimpl Clone for ConvexPolyhedron
impl Clone for ConvexPolyhedron
sourcefn clone(&self) -> ConvexPolyhedron
fn clone(&self) -> ConvexPolyhedron
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for ConvexPolyhedron
impl Debug for ConvexPolyhedron
sourceimpl PartialEq<ConvexPolyhedron> for ConvexPolyhedron
impl PartialEq<ConvexPolyhedron> for ConvexPolyhedron
sourcefn eq(&self, other: &ConvexPolyhedron) -> bool
fn eq(&self, other: &ConvexPolyhedron) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &ConvexPolyhedron) -> bool
fn ne(&self, other: &ConvexPolyhedron) -> bool
This method tests for !=
.
sourceimpl PointQuery for ConvexPolyhedron
impl PointQuery for ConvexPolyhedron
sourcefn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
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
sourcefn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
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. Read more
sourcefn 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>
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.
sourcefn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
fn contains_local_point(&self, pt: &OPoint<f32, Const<3_usize>>) -> bool
Tests if the given point is inside of self
.
sourcefn 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
.
sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> f32
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
.
sourcefn 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
sourceimpl PolygonalFeatureMap for ConvexPolyhedron
impl PolygonalFeatureMap for ConvexPolyhedron
sourcefn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
Compute the support polygonal face of self
towards the dir
.
sourceimpl RayCast for ConvexPolyhedron
impl RayCast for ConvexPolyhedron
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
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.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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.
sourcefn 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.
sourcefn 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.
sourceimpl Shape for ConvexPolyhedron
impl Shape for ConvexPolyhedron
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
Clones this shape into a boxed trait-object.
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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> 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) -> f32
fn ccd_angular_thickness(&self) -> f32
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, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn 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>>>>
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.
sourcefn 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 as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn 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
sourceimpl SupportMap for ConvexPolyhedron
impl SupportMap for ConvexPolyhedron
fn local_support_point(
&self,
dir: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
sourcefn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> OPoint<f32, Const<3_usize>>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3_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<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> OPoint<f32, Const<3_usize>>
impl StructuralPartialEq for ConvexPolyhedron
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
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,
impl<T> Pointable for T
impl<T> Pointable for T
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