Struct parry3d::shape::ConvexPolyhedron

pub struct ConvexPolyhedron { /* private fields */ }

A convex polyhedron without degenerate faces.

Implementations

impl ConvexPolyhedron

pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb

Computes the world-space Aabb of this convex polyhedron, transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this convex polyhedron.

impl ConvexPolyhedron

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this convex polyhedron.

impl ConvexPolyhedron

pub fn from_convex_hull(points: &[Point<Real>]) -> 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.

pub fn from_convex_mesh( points: Vec<Point<Real>>, 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.)

pub fn check_geometry(&self)

Verify if this convex polyhedron is actually convex.

pub fn points(&self) -> &[Point<Real>]

The set of vertices of this convex polyhedron.

pub fn vertices(&self) -> &[Vertex]

The topology of the vertices of this convex polyhedron.

pub fn edges(&self) -> &[Edge]

The topology of the edges of this convex polyhedron.

pub fn faces(&self) -> &[Face]

The topology of the faces of this convex polyhedron.

pub fn vertices_adj_to_face(&self) -> &[u32]

The array containing the indices of the vertices adjacent to each face.

pub fn edges_adj_to_face(&self) -> &[u32]

The array containing the indices of the edges adjacent to each face.

pub fn faces_adj_to_vertex(&self) -> &[u32]

The array containing the indices of the faces adjacent to each vertex.

pub fn scaled(self, scale: &Vector<Real>) -> Option<Self>

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).

pub fn support_feature_id_toward( &self, local_dir: &Unit<Vector<Real>> ) -> FeatureId

Computes the ID of the features with a normal that maximize the dot-product with local_dir.

pub fn feature_normal(&self, feature: FeatureId) -> Option<Unit<Vector<Real>>>

The normal of the given feature.

impl ConvexPolyhedron

pub fn to_trimesh(&self) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)

Discretize the boundary of this convex polyhedron as a triangle-mesh.

Trait Implementations

impl Clone for ConvexPolyhedron

fn clone(&self) -> ConvexPolyhedron

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ConvexPolyhedron

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

Formats the value using the given formatter.

impl PartialEq for ConvexPolyhedron

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

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

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PointQuery for ConvexPolyhedron

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

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)

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

fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real

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

fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (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.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

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

impl PolygonalFeatureMap for ConvexPolyhedron

fn local_support_feature( &self, dir: &Unit<Vector<Real>>, out_feature: &mut PolygonalFeature )

Compute the support polygonal face of self towards the dir.

fn is_convex_polyhedron(&self) -> bool

Is this shape a ConvexPolyhedron?

impl RayCast for ConvexPolyhedron

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>

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

fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

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

fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: Real) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>

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

fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>

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

fn intersects_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for ConvexPolyhedron

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: Real) -> MassProperties

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

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

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

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

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

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

fn feature_normal_at_point( &self, feature: FeatureId, _point: &Point<Real> ) -> Option<Unit<Vector<Real>>>

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

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

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

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

fn compute_swept_aabb( &self, start_pos: &Isometry<Real>, end_pos: &Isometry<Real> ) -> 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.

impl SupportMap for ConvexPolyhedron

fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<Real>, dir: &Vector<Real> ) -> Point<Real>

fn support_point_toward( &self, transform: &Isometry<Real>, dir: &Unit<Vector<Real>> ) -> Point<Real>

Same as self.support_point except that dir is normalized.

impl StructuralPartialEq for ConvexPolyhedron