Struct parry3d::shape::TriMesh

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#[repr(C)]
pub struct TriMesh { /* private fields */ }
Expand description

A triangle mesh.

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impl TriMesh

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

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

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle mesh.

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impl TriMesh

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pub fn canonical_split( &self, axis: usize, bias: Real, epsilon: Real ) -> SplitResult<Self>

Splits this TriMesh along the given canonical axis.

This will split the Aabb by a plane with a normal with it’s axis-th component set to 1. The splitting plane is shifted wrt. the origin by the bias (i.e. it passes through the point equal to normal * bias).

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Returns the result of the split. The first mesh returned is the piece lying on the negative half-space delimited by the splitting plane. The second mesh returned is the piece lying on the positive half-space delimited by the splitting plane.

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pub fn split( &self, position: &Isometry<Real>, axis: &UnitVector<Real>, bias: Real, epsilon: Real ) -> SplitResult<Self>

Splits this mesh, transformed by position by a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

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pub fn local_split( &self, local_axis: &UnitVector<Real>, bias: Real, epsilon: Real ) -> SplitResult<Self>

Splits this mesh by a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

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pub fn canonical_intersection_with_plane( &self, axis: usize, bias: Real, epsilon: Real ) -> IntersectResult<Polyline>

Computes the intersection Polylines between this mesh and the plane identified by the given canonical axis.

This will intersect the mesh by a plane with a normal with it’s axis-th component set to 1. The splitting plane is shifted wrt. the origin by the bias (i.e. it passes through the point equal to normal * bias).

Note that the resultant polyline may have multiple connected components

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pub fn intersection_with_plane( &self, position: &Isometry<Real>, axis: &UnitVector<Real>, bias: Real, epsilon: Real ) -> IntersectResult<Polyline>

Computes the intersection Polylines between this mesh, transformed by position, and a plane identified by its normal axis and the bias (i.e. the plane passes through the point equal to normal * bias).

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pub fn intersection_with_local_plane( &self, local_axis: &UnitVector<Real>, bias: Real, epsilon: Real ) -> IntersectResult<Polyline>

Computes the intersection Polylines between this mesh and a plane identified by its normal local_axis and the bias (i.e. the plane passes through the point equal to normal * bias).

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pub fn intersection_with_aabb( &self, position: &Isometry<Real>, flip_mesh: bool, aabb: &Aabb, flip_cuboid: bool, epsilon: Real ) -> Option<Self>

Computes the intersection mesh between an Aabb and this mesh.

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pub fn intersection_with_cuboid( &self, position: &Isometry<Real>, flip_mesh: bool, cuboid: &Cuboid, cuboid_position: &Isometry<Real>, flip_cuboid: bool, epsilon: Real ) -> Option<Self>

Computes the intersection mesh between a cuboid and this mesh transformed by position.

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pub fn intersection_with_local_cuboid( &self, flip_mesh: bool, cuboid: &Cuboid, cuboid_position: &Isometry<Real>, flip_cuboid: bool, _epsilon: Real ) -> Option<Self>

Computes the intersection mesh between a cuboid and this mesh.

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impl TriMesh

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pub fn new(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self

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

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pub fn with_flags( vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>, flags: TriMeshFlags ) -> Self

Creates a new triangle mesh from a vertex buffer and an index buffer, and flags controlling optional properties.

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pub fn set_flags(&mut self, flags: TriMeshFlags) -> Result<(), TopologyError>

Sets the flags of this triangle mesh, controlling its optional associated data.

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pub fn transform_vertices(&mut self, transform: &Isometry<Real>)

Transforms in-place the vertices of this triangle mesh.

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

Returns a scaled version of this triangle mesh.

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pub fn append(&mut self, rhs: &TriMesh)

Appends a second triangle mesh to this triangle mesh.

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

A flat view of the index buffer of this mesh.

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pub fn reverse(&mut self)

Reverse the orientation of the triangle mesh.

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

An iterator through all the triangles of this mesh.

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impl TriMesh

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pub fn flags(&self) -> TriMeshFlags

The flags of this triangle mesh.

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

Compute the axis-aligned bounding box of this triangle mesh.

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pub fn local_aabb(&self) -> &Aabb

Gets the local axis-aligned bounding box of this triangle mesh.

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

The acceleration structure used by this triangle-mesh.

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pub fn num_triangles(&self) -> usize

The number of triangles forming this mesh.

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pub fn is_backface(&self, feature: FeatureId) -> bool

Does the given feature ID identify a backface of this trimesh?

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pub fn triangle(&self, i: u32) -> Triangle

Get the i-th triangle of this mesh.

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pub fn triangle_normal_constraints( &self, i: u32 ) -> Option<TrianglePseudoNormals>

Returns the pseudo-normals of one of this mesh’s triangles, if it was computed.

This returns None if the pseudo-normals of this triangle were not computed. To have its pseudo-normals computed, be sure to set the TriMeshFlags so that they contain the TriMeshFlags::FIX_INTERNAL_EDGES flag.

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

The vertex buffer of this mesh.

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pub fn indices(&self) -> &[[u32; 3]]

The index buffer of this mesh.

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pub fn topology(&self) -> Option<&TriMeshTopology>

Returns the topology information of this trimesh, if it has been computed.

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pub fn connected_components(&self) -> Option<&TriMeshConnectedComponents>

Returns the connected-component information of this trimesh, if it has been computed.

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pub fn pseudo_normals(&self) -> Option<&TriMeshPseudoNormals>

The pseudo-normals of this triangle mesh, if they have been computed.

Trait Implementations§

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impl Clone for TriMesh

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fn clone(&self) -> TriMesh

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for TriMesh

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

Formats the value using the given formatter. Read more
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impl From<Cuboid> for TriMesh

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fn from(cuboid: Cuboid) -> Self

Converts to this type from the input type.
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impl From<HeightField> for TriMesh

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fn from(heightfield: HeightField) -> Self

Converts to this type from the input type.
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impl PointQuery for TriMesh

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fn project_local_point_with_max_dist( &self, 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.

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

Projects a point on self. Read more
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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.
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fn contains_local_point(&self, point: &Point<Real>) -> bool

Tests if the given point is inside of self.
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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.
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.
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fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.
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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.
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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.
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fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.
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impl PointQueryWithLocation for TriMesh

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

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

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type Location = (u32, TrianglePointLocation)

Additional shape-specific projection information Read more
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fn project_local_point_and_get_location( &self, point: &Point<Real>, solid: bool ) -> (PointProjection, Self::Location)

Projects a point on self.
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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.
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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.
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impl RayCast for TriMesh

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

Tests whether a ray intersects this transformed shape.
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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.
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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.
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fn intersects_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real ) -> bool

Tests whether a ray intersects this transformed shape.
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impl Shape for TriMesh

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

Clones this shape into a boxed trait-object.
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fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.
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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.
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fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.
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fn mass_properties(&self, density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.
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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.
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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.
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fn ccd_thickness(&self) -> Real

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fn ccd_angular_thickness(&self) -> Real

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

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

Computes the bounding-sphere of this shape with the given position.
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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more
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fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.
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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.
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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.
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impl SimdCompositeShape for TriMesh

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

Gets the acceleration structure of the composite shape.
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impl TypedSimdCompositeShape for TriMesh

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