Struct ncollide3d::shape::Triangle

#[repr(C)]
pub struct Triangle<N: RealField> { /* fields omitted */ }

A triangle shape.

Methods

impl<N: RealField> Triangle<N>

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

Creates a triangle from three points.

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

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

pub fn a(&self) -> &Point<N>

The fist point of this triangle.

pub fn b(&self) -> &Point<N>

The second point of this triangle.

pub fn c(&self) -> &Point<N>

The third point of this triangle.

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

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

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

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<N>; 3]

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

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

Returns a new triangle with vertices transformed by m.

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

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

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

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<N>>) -> (N, N)

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 tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    dir: &Unit<Vector<N>>
) -> bool

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

impl<N: Clone + RealField> Clone for Triangle<N>

fn clone(&self) -> Triangle<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField> ConvexPolyhedron<N> for Triangle<N>

fn vertex(&self, id: FeatureId) -> Point<N>

Gets the specified vertex in the shape local-space.

fn edge(&self, id: FeatureId) -> (Point<N>, Point<N>, FeatureId, FeatureId)

Get the specified edge's vertices (in the shape local-space) and the vertices' identifiers.

fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape's local-space.

fn feature_normal(&self, _: FeatureId) -> Unit<Vector<N>>

Returns any normal from the normal cone of the given feature.

fn support_face_toward(
    &self,
    m: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    face: &mut ConvexPolygonalFeature<N>
)

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

fn support_feature_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    eps: N,
    out: &mut ConvexPolygonalFeature<N>
)

Retrieve the feature (in world-space) which normal cone contains dir.

fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId

Retrieve the identifier of the feature which normal cone contains dir.

impl<N: Debug + RealField> Debug for Triangle<N>

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

Formats the value using the given formatter.

impl<N: RealField> HasBoundingVolume<N, AABB<N>> for Triangle<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for Triangle<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N: PartialEq + RealField> PartialEq<Triangle<N>> for Triangle<N>

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

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Triangle<N>) -> bool

This method tests for !=.

impl<N: RealField> PointQuery<N> for Triangle<N>

fn project_point(
    &self,
    m: &Isometry<N>,
    pt: &Point<N>,
    solid: bool
) -> PointProjection<N>

Projects a point on self transformed by m.

fn project_point_with_feature(
    &self,
    m: &Isometry<N>,
    pt: &Point<N>
) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N

Computes the minimal distance between a point and self transformed by m.

fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool

Tests if the given point is inside of self transformed by m.

impl<N: RealField> PointQueryWithLocation<N> for Triangle<N>

type Location = TrianglePointLocation<N>

Additional shape-specific projection information

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

Projects a point on self transformed by m.

impl<N: RealField> RayCast<N> for Triangle<N>

fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    _: bool
) -> Option<RayIntersection<N>>

Computes the time of impact, and normal between this transformed shape and a ray.

fn toi_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

Computes the time of impact between this transform shape and a ray.

fn toi_and_normal_and_uv_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool

Tests whether a ray intersects this transformed shape.

impl<N: RealField> Shape<N> for Triangle<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    _: Option<&[N]>,
    dir: &Unit<Vector<N>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N: RealField> StructuralPartialEq for Triangle<N>

impl<N: RealField> SupportMap<N> for Triangle<N>

fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N>

Evaluates the support function of the object.

fn support_point_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>
) -> Point<N>

Same as self.support_point except that dir is normalized.

impl<N: RealField> ToTriMesh<N> for Triangle<N>

type DiscretizationParameter = ()

fn to_trimesh(&self, _: ()) -> TriMesh<N>

Builds a triangle mesh from this shape.