Struct ConvexHull

pub struct ConvexHull<N: RealField + Copy> { /* private fields */ }

A convex polyhedron without degenerate faces.

Implementations

impl<N: RealField + Copy> ConvexHull<N>

pub fn try_from_points(points: &[Point<N>]) -> Option<ConvexHull<N>>

Creates a new 2D convex polyhedron from an arbitrary set of points.

This explicitly computes the convex hull of the given set of points. Use Returns None if the convex hull computation failed.

pub fn try_new( points: Vec<Point<N>>, indices: &[usize], ) -> Option<ConvexHull<N>>

Attempts to create a new solid assumed to be convex from the set of points and indices.

The given points and index information are assumed to describe a convex polyhedron. It it is not, weird results may be produced.

Return

Retruns None if:

1. The given solid does not satisfy the euler characteristic.
2. The given solid contains degenerate edges/triangles.

pub fn check_geometry(&self)

Verify if this convex polyhedron is actually convex.

pub fn points(&self) -> &[Point<N>]

The set of vertices of this convex polyhedron.

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 + Copy> Clone for ConvexHull<N>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField + Copy> ConvexPolyhedron<N> for ConvexHull<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, out: &mut ConvexPolygonalFeature<N>)

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

fn feature_normal(&self, feature: 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>>, out: &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>>, angle: 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 + Copy> Debug for ConvexHull<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for ConvexHull<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 + Copy> HasBoundingVolume<N, BoundingSphere<N>> for ConvexHull<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 + Copy> PartialEq for ConvexHull<N>

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

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<N: RealField + Copy> PointQuery<N> for ConvexHull<N>

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

Projects a point on self transformed by m.

fn project_point_with_feature( &self, m: &Isometry<N>, point: &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 + Copy> RayCast<N> for ConvexHull<N>

fn toi_and_normal_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: 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 + Copy> Shape<N> for ConvexHull<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 + Copy> SupportMap<N> for ConvexHull<N>

fn local_support_point(&self, dir: &Vector<N>) -> Point<N>

fn local_support_point_toward(&self, dir: &Unit<Vector<N>>) -> Point<N>

Same as self.local_support_point except that dir is normalized.

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

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 + Copy> StructuralPartialEq for ConvexHull<N>