Struct jumpy::core::physics::rapier::TriMesh

#[repr(C)]
pub struct TriMesh {
    qbvh: Qbvh<u32>,
    vertices: Vec<OPoint<f32, Const<2>>>,
    indices: Vec<[u32; 3]>,
    topology: Option<TriMeshTopology>,
    connected_components: Option<TriMeshConnectedComponents>,
    flags: TriMeshFlags,
}

A triangle mesh.

Fields

qbvh: Qbvh<u32>

vertices: Vec<OPoint<f32, Const<2>>>

indices: Vec<[u32; 3]>

topology: Option<TriMeshTopology>

connected_components: Option<TriMeshConnectedComponents>

flags: TriMeshFlags

Implementations

impl TriMesh

pub fn bounding_sphere( &self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere

Computes the world-space bounding sphere of this triangle mesh, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this triangle mesh.

impl TriMesh

pub fn new( vertices: Vec<OPoint<f32, Const<2>>>, indices: Vec<[u32; 3]>, ) -> TriMesh

Creates a new triangle mesh from a vertex buffer and an index buffer.

pub fn with_flags( vertices: Vec<OPoint<f32, Const<2>>>, indices: Vec<[u32; 3]>, flags: TriMeshFlags, ) -> TriMesh

Creates a new triangle mesh from a vertex buffer and an index buffer, and flags controlling optional properties.

pub fn set_flags(&mut self, flags: TriMeshFlags) -> Result<(), TopologyError>

Sets the flags of this triangle mesh, controlling its optional associated data.

pub fn transform_vertices( &mut self, transform: &Isometry<f32, Unit<Complex<f32>>, 2>, )

Transforms in-place the vertices of this triangle mesh.

pub fn scaled( self, scale: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, ) -> TriMesh

Returns a scaled version of this triangle mesh.

pub fn append(&mut self, rhs: &TriMesh)

Appends a second triangle mesh to this triangle mesh.

pub fn from_polygon(vertices: Vec<OPoint<f32, Const<2>>>) -> Option<TriMesh>

Create a TriMesh from a set of points assumed to describe a counter-clockwise non-convex polygon.

This operation may fail if the input polygon is invalid, e.g. it is non-simple or has zero surface area.

pub fn flat_indices(&self) -> &[u32]

A flat view of the index buffer of this mesh.

pub fn reverse(&mut self)

Reverse the orientation of the triangle mesh.

pub fn triangles(&self) -> impl ExactSizeIterator

An iterator through all the triangles of this mesh.

impl TriMesh

pub fn flags(&self) -> TriMeshFlags

The flags of this triangle mesh.

pub fn aabb(&self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb

Compute the axis-aligned bounding box of this triangle mesh.

pub fn local_aabb(&self) -> &Aabb

Gets the local axis-aligned bounding box of this triangle mesh.

pub fn qbvh(&self) -> &Qbvh<u32>

The acceleration structure used by this triangle-mesh.

pub fn num_triangles(&self) -> usize

The number of triangles forming this mesh.

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

Does the given feature ID identify a backface of this trimesh?

pub fn triangle(&self, i: u32) -> Triangle

Get the i-th triangle of this mesh.

pub fn vertices(&self) -> &[OPoint<f32, Const<2>>]

The vertex buffer of this mesh.

pub fn indices(&self) -> &[[u32; 3]]

The index buffer of this mesh.

pub fn topology(&self) -> Option<&TriMeshTopology>

Returns the topology information of this trimesh, if it has been computed.

pub fn connected_components(&self) -> Option<&TriMeshConnectedComponents>

Returns the connected-component information of this trimesh, if it has been computed.

Trait Implementations

impl Clone for TriMesh

fn clone(&self) -> TriMesh

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for TriMesh

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

Formats the value using the given formatter.

impl PointQuery for TriMesh

fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn project_local_point( &self, point: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool

Tests if the given point is inside of self.

fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point( &self, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self.

fn project_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

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

fn project_point_and_get_feature( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)

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

fn contains_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> bool

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

impl PointQueryWithLocation for TriMesh

fn project_local_point_and_get_location_with_max_dist( &self, point: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<(PointProjection, <TriMesh as PointQueryWithLocation>::Location)>

Projects a point on self, with a maximum projection distance.

type Location = (u32, TrianglePointLocation)

Additional shape-specific projection information

fn project_local_point_and_get_location( &self, point: &OPoint<f32, Const<2>>, solid: bool, ) -> (PointProjection, <TriMesh as PointQueryWithLocation>::Location)

Projects a point on self.

fn project_point_and_get_location( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

fn project_point_and_get_location_with_max_dist( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<(PointProjection, Self::Location)>

Projects a point on self transformed by m, with a maximum projection distance.

impl RayCast for TriMesh

fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

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

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<RayIntersection>

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

fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: f32) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

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

fn cast_ray_and_get_normal( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<RayIntersection>

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

fn intersects_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_time_of_impact: f32, ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for TriMesh

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> f32

fn ccd_angular_thickness(&self) -> f32

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn compute_bounding_sphere( &self, position: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

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

Convents this shape into its support mapping, if it has one.

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point( &self, _feature: FeatureId, _point: &OPoint<f32, Const<2>>, ) -> Option<Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>>

The shape’s normal at the given point located on a specific feature.

fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, end_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.

impl SimdCompositeShape for TriMesh

fn map_part_at( &self, i: u32, f: &mut dyn FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &(dyn Shape + 'static), Option<&(dyn NormalConstraints + 'static)>), )

Applies a function to one sub-shape of this composite shape.

fn qbvh(&self) -> &Qbvh<u32>

Gets the acceleration structure of the composite shape.

impl TypedSimdCompositeShape for TriMesh

type PartShape = Triangle

type PartNormalConstraints = TrianglePseudoNormals

type PartId = u32

fn map_typed_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &<TriMesh as TypedSimdCompositeShape>::PartShape, Option<&<TriMesh as TypedSimdCompositeShape>::PartNormalConstraints>), )

fn map_untyped_part_at( &self, i: u32, f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &(dyn Shape + 'static), Option<&(dyn NormalConstraints + 'static)>), )

fn typed_qbvh(&self) -> &Qbvh<u32>