Struct rapier3d::geometry::TriMesh

pub struct TriMesh { /* fields omitted */ }

A triangle mesh.

Implementations

impl TriMesh

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>
) -> 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 new(
    vertices: Vec<Point<f32, U3>, Global>,
    indices: Vec<[u32; 3], Global>
) -> TriMesh

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

pub fn aabb(&self, pos: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> 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 quadtree(&self) -> &SimdQuadTree<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 Iterator<Item = Triangle>

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) -> &[Point<f32, U3>]

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.

Trait Implementations

impl Clone for TriMesh

pub fn clone(&self) -> TriMesh

Returns a copy of the value.

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

Performs copy-assignment from source.

impl From<Cuboid> for TriMesh

pub fn from(cuboid: Cuboid) -> TriMesh

Performs the conversion.

impl From<HeightField> for TriMesh

pub fn from(heightfield: HeightField) -> TriMesh

Performs the conversion.

impl PointQuery for TriMesh

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

Projects a point on self.

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

Tests if the given point is inside of self.

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 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 TriMesh

type Location = (u32, TrianglePointLocation)

Additional shape-specific projection information

pub fn project_local_point_and_get_location(
    &self,
    point: &Point<f32, U3>,
    solid: bool
) -> (PointProjection, <TriMesh 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 RayCast for TriMesh

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 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.

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 TriMesh

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

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere 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 shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

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

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

Computes the bounding-sphere of this shape with the given position.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

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 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 SimdCompositeShape for TriMesh

pub fn map_part_at(
    &self,
    i: u32,
    f: &mut dyn FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &(dyn Shape + 'static))
)

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

pub fn quadtree(&self) -> &SimdQuadTree<u32>

Gets the acceleration structure of the composite shape.

impl TypedSimdCompositeShape for TriMesh

type PartShape = Triangle

type PartId = u32

pub fn map_typed_part_at(
    &self,
    i: u32,
    f: impl FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &<TriMesh as TypedSimdCompositeShape>::PartShape)
)

pub fn map_untyped_part_at(
    &self,
    i: u32,
    f: impl FnMut(Option<&Isometry<f32, U3, Unit<Quaternion<f32>>>>, &(dyn Shape + 'static))
)

pub fn typed_quadtree(&self) -> &SimdQuadTree<u32>