Struct rapier3d::geometry::Triangle [−][src]
#[repr(C)]pub struct Triangle { pub a: Point<f32, 3_usize>, pub b: Point<f32, 3_usize>, pub c: Point<f32, 3_usize>, }
Expand description
A triangle shape.
Fields
a: Point<f32, 3_usize>
The triangle first point.
b: Point<f32, 3_usize>
The triangle second point.
c: Point<f32, 3_usize>
The triangle third point.
Implementations
impl Triangle
[src]
impl Triangle
[src]pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]Computes the world-space bounding sphere of this triangle, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]
pub fn local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the local-space bounding sphere of this triangle.
impl Triangle
[src]
impl Triangle
[src]pub fn new(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> Triangle
[src]
pub fn new(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> Triangle
[src]Creates a triangle from three points.
pub fn from_array(arr: &[Point<f32, 3_usize>; 3]) -> &Triangle
[src]
pub fn from_array(arr: &[Point<f32, 3_usize>; 3]) -> &Triangle
[src]Creates the reference to a triangle from the reference to an array of three points.
pub fn vertices(&self) -> &[Point<f32, 3_usize>; 3]
[src]
pub fn vertices(&self) -> &[Point<f32, 3_usize>; 3]
[src]Reference to an array containing the three vertices of this triangle.
pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]
pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]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 transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Triangle
[src]
pub fn transformed(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> Triangle
[src]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]
[src]
pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 3]
[src]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
[src]
pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Segment
[src]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
[src]
pub fn support_face(
&self,
_dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PolygonalFeature
[src]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>>
[src]
pub fn scaled_normal(
&self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
[src]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, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> (f32, f32)
[src]
pub fn extents_on_dir(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> (f32, f32)
[src]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 is_affinely_dependent(&self) -> bool
[src]
pub fn is_affinely_dependent(&self) -> bool
[src]Tests if this triangle is affinely dependent, i.e., its points are almost aligned.
pub fn contains_point(&self, p: &Point<f32, 3_usize>) -> bool
[src]
pub fn contains_point(&self, p: &Point<f32, 3_usize>) -> bool
[src]Tests if a point is inside of this triangle.
Trait Implementations
impl From<Triangle> for PolygonalFeature
[src]
impl From<Triangle> for PolygonalFeature
[src]pub fn from(tri: Triangle) -> PolygonalFeature
[src]
pub fn from(tri: Triangle) -> PolygonalFeature
[src]Performs the conversion.
impl PointQuery for Triangle
[src]
impl PointQuery for Triangle
[src]pub fn project_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]
pub fn project_local_point(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]Projects a point on self
. Read more
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
fn distance_to_local_point(&self, pt: &Point<f32, 3_usize>, solid: bool) -> f32
[src]
fn distance_to_local_point(&self, pt: &Point<f32, 3_usize>, solid: bool) -> f32
[src]Computes the minimal distance between a point and self
.
fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
[src]
fn contains_local_point(&self, pt: &Point<f32, 3_usize>) -> bool
[src]Tests if the given point is inside of self
.
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> PointProjection
[src]Projects a point on self
transformed by m
.
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> f32
[src]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: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)
[src]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
fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
[src]
fn contains_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>
) -> bool
[src]Tests if the given point is inside of self
transformed by m
.
impl PointQueryWithLocation for Triangle
[src]
impl PointQueryWithLocation for Triangle
[src]type Location = TrianglePointLocation
type Location = TrianglePointLocation
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
[src]
pub fn project_local_point_and_get_location(
&self,
pt: &Point<f32, 3_usize>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
[src]Projects a point on self
.
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> (PointProjection, Self::Location)
[src]
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &Point<f32, 3_usize>,
solid: bool
) -> (PointProjection, Self::Location)
[src]Projects a point on self
transformed by m
.
impl PolygonalFeatureMap for Triangle
[src]
impl PolygonalFeatureMap for Triangle
[src]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
)
[src]
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
)
[src]Compute the support polygonal face of self
towards the dir
.
impl RayCast for Triangle
[src]
impl RayCast for Triangle
[src]pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
bool
) -> Option<RayIntersection>
[src]
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
bool
) -> Option<RayIntersection>
[src]Computes the time of impact, and normal between this transformed shape and a ray.
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
[src]
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
[src]Computes the time of impact between this transform shape and a ray.
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
[src]
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
[src]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>
[src]
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
[src]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>
[src]
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
[src]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
[src]
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
[src]Tests whether a ray intersects this transformed shape.
impl Shape for Triangle
[src]
impl Shape for Triangle
[src]pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
[src]
pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
[src]Clones this shape into a boxed trait-object.
pub fn compute_local_aabb(&self) -> AABB
[src]
pub fn compute_local_aabb(&self) -> AABB
[src]Computes the AABB of this shape.
pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
[src]
pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
[src]Computes the bounding-sphere of this shape.
pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]
pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]Computes the AABB of this shape with the given position.
pub fn mass_properties(&self, _density: f32) -> MassProperties
[src]
pub fn mass_properties(&self, _density: f32) -> MassProperties
[src]Compute the mass-properties of this shape given its uniform density.
pub fn shape_type(&self) -> ShapeType
[src]
pub fn shape_type(&self) -> ShapeType
[src]Gets the type tag of this shape.
pub fn as_typed_shape(&self) -> TypedShape<'_>
[src]
pub fn as_typed_shape(&self) -> TypedShape<'_>
[src]Gets the underlying shape as an enum.
pub fn ccd_thickness(&self) -> f32
[src]
pub fn ccd_angular_thickness(&self) -> f32
[src]
pub fn as_support_map(&self) -> Option<&dyn SupportMap>
[src]
pub fn as_support_map(&self) -> Option<&dyn SupportMap>
[src]Convents this shape into its support mapping, if it has one.
pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
[src]
pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
[src]Converts this shape to a polygonal feature-map, if it is one.
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
[src]Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
[src]
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
[src]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
[src]
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
[src]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
impl SupportMap for Triangle
[src]
impl SupportMap for Triangle
[src]pub fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
[src]
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
[src]
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>
[src]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>>
) -> Point<f32, 3_usize>
[src]
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>
impl Copy for Triangle
[src]
impl StructuralPartialEq for Triangle
[src]
Auto Trait Implementations
impl RefUnwindSafe for Triangle
impl Send for Triangle
impl Sync for Triangle
impl Unpin for Triangle
impl UnwindSafe for Triangle
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
[src]
impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]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
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]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
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]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
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
[src]
pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
[src]
pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
[src]
pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
[src]
pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
[src]
impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more