Struct Polygon 

pub struct Polygon { /* private fields */ }

Simple polygon obstacle: closed ordered vertex ring, not necessarily convex.

Does not auto-validate. Scene validation requires at least three distinct vertices, non-zero area, vertices inside world bounds, no self-intersections, and pairwise disjointness with other obstacles.

Implementations

impl Polygon

pub fn new(vertices: Vec<Point2>) -> Self

Builds an obstacle from a vertex ring. Does not check geometry invariants.

pub fn vertices(&self) -> &[Point2]

Obstacle ring vertices in declaration order (not rewound by constructors).

pub fn signed_area(&self) -> f64

Shoelace signed area (positive for counter-clockwise rings in this coordinate system).

Absolute value near zero is treated as degenerate during validation.

pub fn contains_point_strict(&self, point: Point2) -> bool

Ray-cast interior test: true only for strict interior points.

Points on any edge of the boundary ring return false (boundary is free space unless the edge is sealed against the world boundary).

pub fn validate( &self, world_bounds: WorldBounds, ) -> Result<(), PolygonValidationError>

Validates this obstacle as if it were obstacle index 0 in world_bounds.

Errors

Returns a PolygonValidationError describing the violated polygon geometry invariant.

Trait Implementations

impl Clone for Polygon

fn clone(&self) -> Polygon

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Polygon

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

Formats the value using the given formatter.

impl PartialEq for Polygon

fn eq(&self, other: &Polygon) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Polygon