Trait ncollide2d::shape::ConvexPolyhedron [−][src]
pub trait ConvexPolyhedron<N: Real>: SupportMap<N> { fn vertex(&self, id: FeatureId) -> Point<N>; fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>); fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>; fn support_face_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
out: &mut ConvexPolygonalFeature<N>
); fn support_feature_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
_angle: N,
out: &mut ConvexPolygonalFeature<N>
); fn support_feature_id_toward(
&self,
local_dir: &Unit<Vector<N>>
) -> FeatureId; }
Trait implemented by all convex polyhedron.
Required Methods
fn vertex(&self, id: FeatureId) -> Point<N>
Gets the specified vertex in the shape local-space.
fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)
Fill face with the geometric description of the specified face, in the shape's local-space.
fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>
Get the normal cone of the specified feature, in the shape's local-space.
fn support_face_toward(
&self,
transform: &Isometry<N>,
dir: &Unit<Vector<N>>,
out: &mut ConvexPolygonalFeature<N>
)
&self,
transform: &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>
)
&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.