Struct ncollide2d::shape::ConvexPolygonalFeature

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pub struct ConvexPolygonalFeature<N: RealField + Copy> {
    pub vertices: [Point<N>; 2],
    pub nvertices: usize,
    pub normal: Option<Unit<Vector<N>>>,
    pub feature_id: FeatureId,
    pub vertices_id: [FeatureId; 2],
}

Expand description

A feature (face or vertex) of a 2D convex polygon.

Fields

vertices: [Point<N>; 2]

The vertices of this face.

nvertices: usize

Number of vertices in vertices to be considered.

normal: Option<Unit<Vector<N>>>

The normal of this feature if it is an edge.

feature_id: FeatureId

The shape-dependent identifier of this feature.

vertices_id: [FeatureId; 2]

The shape-dependent indentifier of each vertex of this feature.

Implementations

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

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pub fn new() -> Self

Creates a new empty convex polygonal faces.

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pub fn clear(&mut self)

Removes all the vertices, normals, and feature IDs of this feature.

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pub fn transform_by(&mut self, m: &Isometry<N>)

Transforms all the vertices and normal of this feature by the given isometry.

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pub fn push(&mut self, pt: Point<N>, id: FeatureId)

Adds a vertex to this face.

It is not checked whether pt breaks the convexity of the polyhedral face.

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pub fn nvertices(&self) -> usize

The number of vertices of this face.

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

The vertices of this convex polygonal face.

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pub fn set_normal(&mut self, normal: Unit<Vector<N>>)

Sets the outward normal of this convex polygonal face.

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pub fn set_feature_id(&mut self, id: FeatureId)

Sets the identifier of the feature represented by this convex polygon.

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pub fn project_point(&self, pt: &Point<N>) -> Option<Contact<N>>

Projects a point on this feature.

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pub fn clip(
 &self,
 other: &Self,
 normal: &Unit<Vector<N>>,
 prediction: &ContactPrediction<N>,
 out: &mut Vec<(Contact<N>, FeatureId, FeatureId )>
)

Generate contacts between self and other using polygonal clipping, iif. they both have at least two vertices.

If either self or other has less than two vertices, this does nothing.

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pub fn add_contact_to_manifold(
 &self,
 other: &Self,
 c: Contact<N>,
 m1: &Isometry<N>,
 f1: FeatureId,
 proc1: Option<&dyn ContactPreprocessor<N>>,
 m2: &Isometry<N>,
 f2: FeatureId,
 proc2: Option<&dyn ContactPreprocessor<N>>,
 manifold: &mut ContactManifold<N>
)

Given a contact between two polygonal features, adds it to a contact manifold.

Trait Implementations

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

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

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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

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

Formats the value using the given formatter. Read more

Auto Trait Implementations

impl<N> RefUnwindSafe for ConvexPolygonalFeature<N> where
N: RefUnwindSafe,

impl<N> Send for ConvexPolygonalFeature<N>

impl<N> Sync for ConvexPolygonalFeature<N>

impl<N> Unpin for ConvexPolygonalFeature<N> where
N: Unpin,

impl<N> UnwindSafe for ConvexPolygonalFeature<N> where
N: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Az for T

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fn az<Dst>(self) -> Dst where
T: Cast<Dst>,

Casts the value.

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<Src, Dst> CastFrom<Src> for Dst where
Src: Cast<Dst>,

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fn cast_from(src: Src) -> Dst

Casts the value.

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impl<T> CheckedAs for T

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fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,

Casts the value.

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impl<Src, Dst> CheckedCastFrom<Src> for Dst where
Src: CheckedCast<Dst>,

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fn checked_cast_from(src: Src) -> Option<Dst>

Casts the value.

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impl<T> Downcast for T where
T: Any,

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fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more

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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more

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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s. Read more

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Send + Sync + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more