Struct parry3d::shape::Triangle

#[repr(C)]
pub struct Triangle {
    pub a: Point<Real>,
    pub b: Point<Real>,
    pub c: Point<Real>,
}

A triangle shape.

Fields

a: Point<Real>

The triangle first point.

b: Point<Real>

The triangle second point.

c: Point<Real>

The triangle third point.

Implementations

impl Triangle

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

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

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this triangle.

impl Triangle

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

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

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle.

impl Triangle

pub fn new(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Triangle

Creates a triangle from three points.

pub fn from_array(arr: &[Point<Real>; 3]) -> &Triangle

Creates the reference to a triangle from the reference to an array of three points.

pub fn vertices(&self) -> &[Point<Real>; 3]

Reference to an array containing the three vertices of this triangle.

pub fn normal(&self) -> Option<Unit<Vector<Real>>>

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 edges(&self) -> [Segment; 3]

The three edges of this triangle: [AB, BC, CA].

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

Computes a scaled version of this triangle.

pub fn transformed(&self, m: &Isometry<Real>) -> Self

Returns a new triangle with vertices transformed by m.

pub fn edges_scaled_directions(&self) -> [Vector<Real>; 3]

The three edges scaled directions of this triangle: [B - A, C - B, A - C].

pub fn local_support_edge_segment(&self, dir: Vector<Real>) -> Segment

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: Vector<Real>) -> PolygonalFeature

Return the face of this triangle with a normal that maximizes the dot product with dir.

pub fn scaled_normal(&self) -> Vector<Real>

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<Vector<Real>>) -> (Real, Real)

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 area(&self) -> Real

The area of this triangle.

pub fn center(&self) -> Point<Real>

The geometric center of this triangle.

pub fn perimeter(&self) -> Real

The perimeter of this triangle.

pub fn circumcircle(&self) -> (Point<Real>, Real)

The circumcircle of this triangle.

pub fn is_affinely_dependent(&self) -> bool

Tests if this triangle is affinely dependent, i.e., its points are almost aligned.

pub fn is_affinely_dependent_eps(&self, eps: Real) -> bool

Is this triangle degenerate or almost degenerate?

pub fn contains_point(&self, p: &Point<Real>) -> bool

Tests if a point is inside of this triangle.

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

The normal of the given feature of this shape.

pub fn orientation2d( a: &Point2<Real>, b: &Point2<Real>, c: &Point2<Real>, epsilon: Real ) -> TriangleOrientation

The orientation of the 2D triangle, based on its signed area.

Returns TriangleOrientation::Degenerate if the triangle’s area is smaller than epsilon.

pub fn reverse(&mut self)

Reverse the orientation of this triangle by swapping b and c.

Trait Implementations

impl Clone for Triangle

fn clone(&self) -> Triangle

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Triangle

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

Formats the value using the given formatter.

impl Default for Triangle

fn default() -> Triangle

Returns the “default value” for a type.

impl From<[OPoint<f32, Const<3>>; 3]> for Triangle

fn from(arr: [Point<Real>; 3]) -> Self

Converts to this type from the input type.

impl From<Triangle> for PolygonalFeature

fn from(tri: Triangle) -> Self

Converts to this type from the input type.

impl PartialEq for Triangle

fn eq(&self, other: &Triangle) -> 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 Triangle

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

Projects a point on self.

fn project_local_point_and_get_feature( &self, pt: &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 PointQueryWithLocation for Triangle

type Location = TrianglePointLocation

Additional shape-specific projection information

fn project_local_point_and_get_location( &self, pt: &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 PolygonalFeatureMap for Triangle

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 Triangle

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: Real, _: 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 Triangle

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 Triangle

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 Copy for Triangle

impl StructuralPartialEq for Triangle