It isn’t quite that it ignores them entirely. It is that the coordinate space for the vertex data is based on the transformation matrix when you write “beginShape().”
If you want a torus as a connected mesh, some good approaches are:
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use the equation for a torus, and compute the mesh coordinates without using translate / rotate – use sin/cos instead. This is how the processing.org Toroid example does it, using QUAD_STRIP for a square mesh. https://processing.org/examples/toroid.html
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use the Shapes 3D library – it has some really great tools for this.
http://www.lagers.org.uk/s3d4p/index.html – @quark also has a much older tutorial on creating a toroid class http://lagers.org.uk/javafx/toroidclass.html