bevy_rapier3d/geometry/shape_views/
convex_polyhedron.rs

1use crate::math::Vect;
2use rapier::parry::shape::ConvexPolyhedron;
3
4/// Read-only access to the properties of a convex polyhedron.
5#[derive(Copy, Clone)]
6pub struct ConvexPolyhedronView<'a> {
7    /// The raw shape from Rapier.
8    pub raw: &'a ConvexPolyhedron,
9}
10
11macro_rules! impl_ref_methods(
12    ($View: ident) => {
13        impl<'a> $View<'a> {
14            /// The vertices of this convex polyhedron.
15            pub fn points(&self) -> impl ExactSizeIterator<Item = Vect> + '_ {
16                self.raw.points().iter().copied()
17            }
18
19            /// The number of vertices of this convex polyhedron.
20            pub fn num_vertices(&self) -> usize {
21                self.raw.vertices().len()
22            }
23
24            /// The indices of the edges of this convex polyhedron.
25            ///
26            /// The internal storage also contains edges between coplanar triangles merged into
27            /// the same polygonal face; those are skipped here.
28            pub fn edges(&self) -> impl Iterator<Item = u32> + '_ {
29                self.raw
30                    .edges()
31                    .iter()
32                    .enumerate()
33                    .filter(|(_, edge)| edge.faces[0] != edge.faces[1])
34                    .map(|(i, _)| i as u32)
35            }
36
37            /// The number of (polygonal) faces of this convex polyhedron.
38            pub fn num_faces(&self) -> usize {
39                self.raw.faces().len()
40            }
41
42            /// The indices of the faces adjacent to the `i`-th vertex.
43            pub fn vertex_adjacent_faces(&self, i: usize) -> &[u32] {
44                let vertex = &self.raw.vertices()[i];
45                let first = vertex.first_adj_face_or_edge as usize;
46                let num = vertex.num_adj_faces_or_edge as usize;
47                &self.raw.faces_adj_to_vertex()[first..first + num]
48            }
49
50            /// The indices of the two endpoints of the `i`-th edge (indexing [`Self::points`]).
51            pub fn edge_vertices(&self, i: usize) -> [u32; 2] {
52                self.raw.edges()[i].vertices
53            }
54
55            /// The indices of the two faces adjacent to the `i`-th edge.
56            pub fn edge_faces(&self, i: usize) -> [u32; 2] {
57                self.raw.edges()[i].faces
58            }
59
60            /// The unit direction of the `i`-th edge, from its first to its second vertex.
61            pub fn edge_direction(&self, i: usize) -> Vect {
62                self.raw.edges()[i].dir
63            }
64
65            /// The outward unit normal of the `i`-th face.
66            pub fn face_normal(&self, i: usize) -> Vect {
67                self.raw.faces()[i].normal
68            }
69
70            /// The indices of the vertices of the `i`-th face (indexing [`Self::points`]).
71            pub fn face_vertices(&self, i: usize) -> &[u32] {
72                let face = &self.raw.faces()[i];
73                let first = face.first_vertex_or_edge as usize;
74                let num = face.num_vertices_or_edges as usize;
75                &self.raw.vertices_adj_to_face()[first..first + num]
76            }
77
78            /// The indices of the edges of the `i`-th face.
79            pub fn face_edges(&self, i: usize) -> &[u32] {
80                let face = &self.raw.faces()[i];
81                let first = face.first_vertex_or_edge as usize;
82                let num = face.num_vertices_or_edges as usize;
83                &self.raw.edges_adj_to_face()[first..first + num]
84            }
85
86            /// Triangulates the boundary of this convex polyhedron, returning its vertex and
87            /// index buffers.
88            pub fn to_trimesh(&self) -> (Vec<Vect>, Vec<[u32; 3]>) {
89                self.raw.to_trimesh()
90            }
91        }
92    }
93);
94
95impl_ref_methods!(ConvexPolyhedronView);
96
97/// Read-write access to the properties of a convex polyhedron.
98///
99/// Parry does not offer any in-place modification of convex polyhedra, so this view is
100/// read-only in practice.
101pub struct ConvexPolyhedronViewMut<'a> {
102    /// The raw shape from Rapier.
103    pub raw: &'a mut ConvexPolyhedron,
104}
105
106impl_ref_methods!(ConvexPolyhedronViewMut);
bevy_rapier3d/geometry/shape_views/convex_polyhedron.rs

bevy_rapier3d/geometry/shape_views/
convex_polyhedron.rs
