Struct rapier3d::geometry::Triangle

#[repr(C)]pub struct Triangle {
    pub a: Point<f32, U3>,
    pub b: Point<f32, U3>,
    pub c: Point<f32, U3>,
}

A triangle shape.

Fields

a: Point<f32, U3>

The triangle first point.

b: Point<f32, U3>

The triangle second point.

c: Point<f32, U3>

The triangle third point.

Implementations

impl Triangle

pub fn aabb(&self, pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB

Computes the world-space AABB of this triangle, transformed by pos.

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this triangle.

impl Triangle

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> BoundingSphere

Computes the world-space bounding sphere of this triangle, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle.

impl Triangle

pub fn new(a: Point<f32, U3>, b: Point<f32, U3>, c: Point<f32, U3>) -> Triangle

Creates a triangle from three points.

pub fn from_array(arr: &[Point<f32, U3>; 3]) -> &Triangle

Creates the reference to a triangle from the reference to an array of three points.

pub fn vertices(&self) -> &[Point<f32, U3>; 3]

Reference to an array containing the three vertices of this triangle.

pub fn normal(
    &self
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

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).

pub fn edges(&self) -> [Segment; 3]

The three edges of this triangle: [AB, BC, CA].

pub fn transformed(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> Triangle

Returns a new triangle with vertices transformed by m.

pub fn edges_scaled_directions(
    &self
) -> [Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>; 3]

The three edges scaled directions of this triangle: [B - A, C - B, A - C].

pub fn support_face(
    &self,
    _dir: Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> PolygonalFeature

Return the face of this triangle with a normal that maximizes the dot product with dir.

pub fn scaled_normal(
    &self
) -> Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>

A vector normal of this triangle.

The vector points such that it is collinear to AB × AC (where × denotes the cross product).

pub fn extents_on_dir(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> (f32, f32)

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.

pub fn area(&self) -> f32

The area of this triangle.

pub fn center(&self) -> Point<f32, U3>

The geometric center of this triangle.

pub fn perimeter(&self) -> f32

The perimeter of this triangle.

pub fn circumcircle(&self) -> (Point<f32, U3>, f32)

The circumcircle of this triangle.

pub fn is_affinely_dependent(&self) -> bool

Tests if this triangle is affinely dependent, i.e., its points are almost aligned.

pub fn contains_point(&self, p: &Point<f32, U3>) -> bool

Tests if a point is inside of this triangle.

Trait Implementations

impl Clone for Triangle

pub fn clone(&self) -> Triangle

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Triangle

impl Debug for Triangle

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl From<[Point<f32, U3>; 3]> for Triangle

pub fn from(arr: [Point<f32, U3>; 3]) -> Triangle

Performs the conversion.

impl From<Triangle> for PolygonalFeature

pub fn from(tri: Triangle) -> PolygonalFeature

Performs the conversion.

impl PartialEq<Triangle> for Triangle

pub fn eq(&self, other: &Triangle) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &Triangle) -> bool

This method tests for !=.

impl PointQuery for Triangle

pub fn project_local_point(
    &self,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    pt: &Point<f32, U3>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

pub fn distance_to_local_point(&self, pt: &Point<f32, U3>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &Point<f32, U3>) -> bool

Tests if the given point is inside of self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self transformed by m.

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> (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.

pub fn contains_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>
) -> bool

Tests if the given point is inside of self transformed by m.

impl PointQueryWithLocation for Triangle

type Location = TrianglePointLocation

Additional shape-specific projection information

pub fn project_local_point_and_get_location(
    &self,
    pt: &Point<f32, U3>,
    solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)

Projects a point on self.

pub fn project_point_and_get_location(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    pt: &Point<f32, U3>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl PolygonalFeatureMap for Triangle

pub fn local_support_feature(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>,
    out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

impl RayCast for Triangle

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.

pub 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.

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

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

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

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Triangle

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn mass_properties(&self, _density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn ccd_thickness(&self) -> f32

pub fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

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

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

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U3>
) -> Option<Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>>

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

impl StructuralPartialEq for Triangle

impl SupportMap for Triangle

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.support_point except that dir is normalized.