Struct parry3d::transformation::vhacd::VHACD
source · pub struct VHACD { /* private fields */ }
Expand description
Approximate convex decomposition using the VHACD algorithm.
Implementations§
source§impl VHACD
impl VHACD
sourcepub fn decompose(
params: &VHACDParameters,
points: &[Point<Real>],
indices: &[[u32; 3]],
keep_voxel_to_primitives_map: bool
) -> Self
pub fn decompose( params: &VHACDParameters, points: &[Point<Real>], indices: &[[u32; 3]], keep_voxel_to_primitives_map: bool ) -> Self
Decompose the given polyline (in 2D) or triangle mesh (in 3D).
§Parameters
params
- The parameters for the VHACD algorithm execution.points
- The vertex buffer of the polyline (in 2D) or triangle mesh (in 3D).indices
- The index buffer of the polyline (in 2D) or triangle mesh (in 3D).keep_voxel_to_primitives_map
- If set totrue
then a map between the voxels computed during the decomposition, and the primitives (triangle or segment) they intersect will be computed. This is required in order to compute the convex-hulls using the original polyline/trimesh primitives afterwards (otherwise the convex hulls resulting from the convex decomposition will use the voxels vertices).
sourcepub fn from_voxels(params: &VHACDParameters, voxels: VoxelSet) -> Self
pub fn from_voxels(params: &VHACDParameters, voxels: VoxelSet) -> Self
Perform an approximate convex decomposition of a set of voxels.
sourcepub fn voxel_parts(&self) -> &[VoxelSet]
pub fn voxel_parts(&self) -> &[VoxelSet]
The almost-convex voxelized parts computed by the VHACD algorithm.
sourcepub fn compute_primitive_intersections(
&self,
points: &[Point<Real>],
indices: &[[u32; 3]]
) -> Vec<Vec<Point<Real>>>
pub fn compute_primitive_intersections( &self, points: &[Point<Real>], indices: &[[u32; 3]] ) -> Vec<Vec<Point<Real>>>
Compute the intersections between the voxelized convex part of this decomposition, and all the primitives from the original decomposed polyline/trimesh,
This will panic if keep_voxel_to_primitives_map
was set to false
when initializing
self
.
sourcepub fn compute_exact_convex_hulls(
&self,
points: &[Point<Real>],
indices: &[[u32; 3]]
) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>
pub fn compute_exact_convex_hulls( &self, points: &[Point<Real>], indices: &[[u32; 3]] ) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>
Compute the convex-hulls of the parts computed by this approximate convex-decomposition, taking into account the primitives from the original polyline/trimesh being decomposed.
This will panic if keep_voxel_to_primitives_map
was set to false
when initializing
self
.
sourcepub fn compute_convex_hulls(
&self,
downsampling: u32
) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>
pub fn compute_convex_hulls( &self, downsampling: u32 ) -> Vec<(Vec<Point<Real>>, Vec<[u32; 3]>)>
Compute the convex hulls of the voxelized approximately-convex parts
computed by self
on the voxelized model.
Use compute_exact_convex_hulls
instead if the original polyline/trimesh geometry
needs to be taken into account.
Auto Trait Implementations§
impl Freeze for VHACD
impl RefUnwindSafe for VHACD
impl Send for VHACD
impl Sync for VHACD
impl Unpin for VHACD
impl UnwindSafe for VHACD
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
source§fn into_any(self: Box<T>) -> Box<dyn Any>
fn into_any(self: Box<T>) -> Box<dyn Any>
Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
.source§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.source§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.source§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
&mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s.source§impl<T> DowncastSync for T
impl<T> DowncastSync for T
source§impl<T> IntoEither for T
impl<T> IntoEither for T
source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
self
into a Left
variant of Either<Self, Self>
if into_left
is true
.
Converts self
into a Right
variant of Either<Self, Self>
otherwise. Read moresource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
self
into a Left
variant of Either<Self, Self>
if into_left(&self)
returns true
.
Converts self
into a Right
variant of Either<Self, Self>
otherwise. Read moresource§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read moresource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
self
is actually part of its subset T
(and can be converted to it).source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
self.to_subset
but without any property checks. Always succeeds.source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.