Struct TriMesh

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

A 3d triangle mesh.

Implementations

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

pub fn new( points: Vec<Point<N>>, indices: Vec<Point3<usize>>, uvs: Option<Vec<Point2<N>>>, ) -> TriMesh<N>

Builds a new mesh.

pub fn aabb(&self) -> &AABB<N>

The triangle mesh’s AABB.

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

The points of this mesh.

pub fn faces(&self) -> &[TriMeshFace<N>]

The faces of this mesh.

pub fn edges(&self) -> &[TriMeshEdge]

The edges of this mesh.

pub fn vertices(&self) -> &[TriMeshVertex]

The vertices of this mesh.

pub fn transform_by(&mut self, transform: &Isometry<N>)

Applies in-place a transformation to this triangle mesh.

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

Applies a transformation to this triangle mesh.

pub fn scale_by(&mut self, scale: &Vector<N>)

Applies in-place a non-uniform scale to this triangle mesh.

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

Applies a non-uniform scale to this triangle mesh.

pub fn oriented(&self) -> bool

Whether this trimesh is considered is oriented or not.

By default a trimesh is not oriented.

pub fn set_oriented(&mut self, oriented: bool)

Whether this trimesh is considered as oriented or not.

This is determined at the initialization of the trimesh.

pub fn face_containing_feature(&self, id: FeatureId) -> usize

Face containing feature.

pub fn edge_segment(&self, i: usize) -> Segment<N>

The segment of the i-th edge on this triangle mesh.

pub fn uvs(&self) -> Option<&[Point2<N>]>

The texture coordinates of this mesh.

pub fn adj_vertex_list(&self) -> &[usize]

The adjacent vertices list of this mesh.

Use TriMeshVertex.adj_vertices to index this. Elements are indexes into the vertices list.

pub fn adj_face_list(&self) -> &[usize]

The adjacent vertices list of this mesh.

Use TriMeshVertex.adj_faces to index this. Elements are indexes into the faces list.

pub fn triangle_at(&self, i: usize) -> Triangle<N>

Gets the i-th mesh element.

pub fn is_backface(&self, feature: FeatureId) -> bool

Returns true if the given feature is a FeatureId::Face and identifies a backface of this trimesh.

pub fn bvt(&self) -> &BVT<usize, AABB<N>>

The optimization structure used by this triangle mesh.

pub fn vertex_tangent_cone_contains_dir( &self, i: usize, deformations: Option<&[N]>, dir: &Unit<Vector<N>>, ) -> bool

Tests that the given dir is on the tangent cone of the ith vertex of this mesh.

pub fn vertex_tangent_cone_polar_contains_dir( &self, i: usize, dir: &Unit<Vector<N>>, sin_ang_tol: N, ) -> bool

Tests that the given dir is on the polar of the tangent cone of the ith vertex of this mesh.

pub fn edge_tangent_cone_contains_dir( &self, i: usize, deformations: Option<&[N]>, dir: &Unit<Vector<N>>, ) -> bool

Tests that the given dir is on the tangent cone of the ith edge of this mesh.

pub fn edge_tangent_cone_polar_contains_orthogonal_dir( &self, i: usize, dir: &Unit<Vector<N>>, sin_ang_tol: N, ) -> bool

Tests that the given dir is on the polar of the tangent cone of the ith edge of this mesh.

The dir is assumed to be orthogonal to the edge.

pub fn edge_tangent_cone_polar_contains_dir( &self, i: usize, dir: &Unit<Vector<N>>, sin_ang_tol: N, _cos_ang_tol: N, ) -> bool

Tests that the given dir is on the polar of the tangent cone of the ith edge of this mesh.

pub fn face_tangent_cone_contains_dir( &self, i: usize, deformations: Option<&[N]>, dir: &Unit<Vector<N>>, ) -> bool

Tests that the given dir is on the tangent cone of the ith face of this mesh.

pub fn face_tangent_cone_polar_contains_dir( &self, i: usize, dir: &Unit<Vector<N>>, cos_ang_tol: N, ) -> bool

Checks if the polar of the tangent cone of the i-th face of this triangle mesh contains the specified direction within an angular tolerence.

pub fn tangent_cone_polar_contains_dir( &self, feature: FeatureId, dir: &Unit<Vector<N>>, sin_ang_tol: N, cos_ang_tol: N, ) -> bool

Checks if the polar of the tangent cone of the specified feature of this triangle mesh contains the specified direction within an angular tolerence.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for TriMesh<N>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField + Copy> CompositeShape<N> for TriMesh<N>

fn nparts(&self) -> usize

The number of sub-shape in this composide shape.

fn map_part_at( &self, i: usize, m: &Isometry<N>, f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>), )

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn map_part_and_preprocessor_at( &self, i: usize, m: &Isometry<N>, prediction: &ContactPrediction<N>, f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>), )

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn aabb_at(&self, i: usize) -> AABB<N>

Gets the AABB of the shape identified by the index i.

fn bvh(&self) -> BVHImpl<'_, N, usize, AABB<N>>

Gets the acceleration structure of the concave shape.

impl<N: RealField + Copy> DeformableShape<N> for TriMesh<N>

fn set_deformations(&mut self, coords: &[N])

Updates all the degrees of freedom of this shape.

fn deformations_type(&self) -> DeformationsType

The type of degrees of freedom this shape has.

fn update_local_approximation( &self, coords: &[N], approx: &mut LocalShapeApproximation<N>, )

Updates the given local approximation of this shape.

impl<N: RealField + Copy> From<TriMesh<N>> for TriMesh<N>

fn from(trimesh: TriMesh<N>) -> Self

Converts to this type from the input type.

impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for TriMesh<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 TriMesh<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: RealField + Copy> PointQuery<N> for TriMesh<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 contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool

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

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.

impl<N: RealField + Copy> PointQueryWithLocation<N> for TriMesh<N>

type Location = (usize, TrianglePointLocation<N>)

Additional shape-specific projection information

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

Projects a point on self transformed by m.

impl<N: RealField + Copy> RayCast<N> for TriMesh<N>

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

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

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_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 TriMesh<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_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

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_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn tangent_cone_contains_dir( &self, fid: FeatureId, m: &Isometry<N>, deformations: 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 subshape_containing_feature(&self, id: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

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

The bounding sphere of self.

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

The convex polyhedron representation of self if applicable.

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

The support mapping of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.