Struct ncollide2d::shape::ConvexPolygon

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

A 2D convex polygon.

Implementations

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

pub fn try_from_points(points: &[Point<N>]) -> Option<Self>

Creates a new 2D convex polygon from an arbitrary set of points.

This explicitly computes the convex hull of the given set of points. Use Returns None if the convex hull computation failed.

pub fn try_new(points: Vec<Point<N>>) -> Option<Self>

Creates a new 2D convex polygon from a set of points assumed to describe a counter-clockwise convex polyline.

Convexity of the input polyline is not checked. Returns None if some consecutive points are identical (or too close to being so).

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

The vertices of this convex polygon.

pub fn normals(&self) -> &[Unit<Vector<N>>]

The normals of the edges of this convex polygon.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    dir: &Unit<Vector<N>>
) -> bool

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

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

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField + Copy> ConvexPolyhedron<N> for ConvexPolygon<N>

fn vertex(&self, id: FeatureId) -> Point<N>

Gets the specified vertex in the shape local-space.

fn face(&self, id: FeatureId, out: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape’s local-space.

fn feature_normal(&self, feature: FeatureId) -> Unit<Vector<N>>

Returns any normal from the normal cone of the given feature.

fn support_face_toward(
    &self,
    m: &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>
)

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.

impl<N: Debug + RealField + Copy> Debug for ConvexPolygon<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for ConvexPolygon<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 ConvexPolygon<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 ConvexPolygon<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 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.

fn contains_point(&self, m: &Isometry<N>, pt: &Point<N>) -> bool

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

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

fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

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

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

Computes the time of impact between this transform 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 ConvexPolygon<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_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

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

The convex polyhedron representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N>,
    _: 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 local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

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_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N: RealField + Copy> SupportMap<N> for ConvexPolygon<N>

fn local_support_point(&self, dir: &Vector<N>) -> Point<N>

fn local_support_point_toward(&self, dir: &Unit<Vector<N>>) -> Point<N>

Same as self.local_support_point except that dir is normalized.

fn support_point(&self, transform: &Isometry<N>, dir: &Vector<N>) -> Point<N>

fn support_point_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>
) -> Point<N>

Same as self.support_point except that dir is normalized.