Struct parry3d::shape::Polyline

pub struct Polyline { /* private fields */ }

A polyline.

Implementations

impl Polyline

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this polyline.

impl Polyline

pub fn new(vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>>) -> Self

Creates a new polyline from a vertex buffer and an index buffer.

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

Compute the axis-aligned bounding box of this polyline.

pub fn local_aabb(&self) -> &Aabb

Gets the local axis-aligned bounding box of this polyline.

pub fn num_segments(&self) -> usize

The number of segments forming this polyline.

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

An iterator through all the segments of this mesh.

pub fn segment(&self, i: u32) -> Segment

Get the i-th segment of this mesh.

pub fn segment_feature_to_polyline_feature( &self, segment: u32, _feature: FeatureId ) -> FeatureId

Transforms the feature-id of a segment to the feature-id of this polyline.

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

The vertex buffer of this mesh.

pub fn indices(&self) -> &[[u32; 2]]

The index buffer of this mesh.

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

A flat view of the index buffer of this mesh.

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

Computes a scaled version of this polyline.

pub fn reverse(&mut self)

Reverse the orientation of this polyline by swapping the indices of all its segments and reverting its index buffer.

pub fn extract_connected_components(&self) -> Vec<Polyline>

Extracts the connected components of this polyline, consuming self.

This method is currently quite restrictive on the kind of allowed input. The polyline represented by self must already have an index buffer sorted such that:

• Each connected component appears in the index buffer one after the other, i.e., a connected component of this polyline must be a contiguous range of this polyline’s index buffer.
• Each connected component is closed, i.e., each range of this polyline index buffer self.indices[i_start..=i_end] forming a complete connected component, we must have self.indices[i_start][0] == self.indices[i_end][1].
• The indices for each component must already be in order, i.e., if the segments self.indices[i] and self.indices[i + 1] are part of the same connected component then we must have self.indices[i][1] == self.indices[i + 1][0].

Output

Returns the set of polylines. If the inputs fulfill the constraints mentioned above, each polyline will be a closed loop with consistent edge orientations, i.e., for all indices i, we have polyline.indices[i][1] == polyline.indices[i + 1][0].

The orientation of each closed loop (clockwise or counterclockwise) are identical to their original orientation in self.

pub fn project_local_point_assuming_solid_interior_ccw( &self, point: Point<Real>, axis: u8 ) -> (PointProjection, (u32, SegmentPointLocation))

Perform a point projection assuming a solid interior based on a counter-clock-wise orientation.

This is similar to self.project_local_point_and_get_location except that the resulting PointProjection::is_inside will be set to true if the point is inside of the area delimited by this polyline, assuming that:

• This polyline isn’t self-crossing.
• This polyline is closed with self.indices[i][1] == self.indices[(i + 1) % num_indices][0] where num_indices == self.indices.len().
• This polyline is oriented counter-clockwise.
• In 3D, the polyline is assumed to be fully coplanar, on a plane with normal given by These properties are not checked.

Trait Implementations

impl Clone for Polyline

fn clone(&self) -> Polyline

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Polyline

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

Formats the value using the given formatter.

impl PointQuery for Polyline

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

Tests if the given point is inside of self.

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 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 PointQueryWithLocation for Polyline

type Location = (u32, SegmentPointLocation)

Additional shape-specific projection information

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

Projects a point on self.

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

Projects a point on self transformed by m.

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

Projects a point on self, with a maximum projection distance.

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

Projects a point on self transformed by m, with a maximum projection distance.

impl RayCast for Polyline

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 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 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 Polyline

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 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_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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

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

fn is_convex(&self) -> bool

Is this shape known to be convex?

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_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 SimdCompositeShape for Polyline

fn map_part_at( &self, i: u32, f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape, Option<&dyn NormalConstraints>) )

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

fn qbvh(&self) -> &Qbvh<u32>

Gets the acceleration structure of the composite shape.

impl TypedSimdCompositeShape for Polyline

type PartShape = Segment

type PartNormalConstraints = ()

type PartId = u32

fn map_typed_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape, Option<&Self::PartNormalConstraints>) )

fn map_untyped_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<Real>>, &dyn Shape, Option<&dyn NormalConstraints>) )

fn typed_qbvh(&self) -> &Qbvh<u32>