Struct ConvexPolyhedronViewMut 

pub struct ConvexPolyhedronViewMut<'a> {
    pub raw: &'a mut ConvexPolyhedron,
}

Read-write access to the properties of a convex polyhedron.

Parry does not offer any in-place modification of convex polyhedra, so this view is read-only in practice.

Fields

raw: &'a mut ConvexPolyhedron

The raw shape from Rapier.

Implementations

impl<'a> ConvexPolyhedronViewMut<'a>

pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_

The vertices of this convex polyhedron.

pub fn num_vertices(&self) -> usize

The number of vertices of this convex polyhedron.

pub fn edges(&self) -> impl Iterator<Item = u32> + '_

The indices of the edges of this convex polyhedron.

The internal storage also contains edges between coplanar triangles merged into the same polygonal face; those are skipped here.

pub fn num_faces(&self) -> usize

The number of (polygonal) faces of this convex polyhedron.

pub fn vertex_adjacent_faces(&self, i: usize) -> &[u32]

The indices of the faces adjacent to the i-th vertex.

pub fn edge_vertices(&self, i: usize) -> [u32; 2]

The indices of the two endpoints of the i-th edge (indexing Self::points).

pub fn edge_faces(&self, i: usize) -> [u32; 2]

The indices of the two faces adjacent to the i-th edge.

pub fn edge_direction(&self, i: usize) -> Vect

The unit direction of the i-th edge, from its first to its second vertex.

pub fn face_normal(&self, i: usize) -> Vect

The outward unit normal of the i-th face.

pub fn face_vertices(&self, i: usize) -> &[u32]

The indices of the vertices of the i-th face (indexing Self::points).

pub fn face_edges(&self, i: usize) -> &[u32]

The indices of the edges of the i-th face.

pub fn to_trimesh(&self) -> (Vec<Vect>, Vec<[u32; 3]>)

Triangulates the boundary of this convex polyhedron, returning its vertex and index buffers.