Struct parry2d_f64::shape::PolygonalFeature

pub struct PolygonalFeature {
    pub vertices: [Point<Real>; 2],
    pub vids: [u32; 2],
    pub fid: u32,
    pub num_vertices: usize,
}

A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.

Fields

vertices: [Point<Real>; 2]

Up to two vertices forming this polygonal feature.

vids: [u32; 2]

The feature IDs of this polygon’s vertices.

fid: u32

The feature ID of this polygonal feature.

num_vertices: usize

The number of vertices on this polygon (must be <= 4).

Implementations

impl PolygonalFeature

pub fn transform_by(&mut self, pos: &Isometry<Real>)

Transforms the vertices of self by the given position pos.

pub fn contacts<ManifoldData, ContactData: Default + Copy>(
    pos12: &Isometry<Real>,
    pos21: &Isometry<Real>,
    sep_axis1: &Vector<Real>,
    sep_axis2: &Vector<Real>,
    feature1: &Self,
    feature2: &Self,
    prediction: Real,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
)

Computes the contacts between two polygonal features.

pub fn face_vertex_contacts<ManifoldData, ContactData: Default + Copy>(
    pos12: &Isometry<Real>,
    face1: &Self,
    sep_axis1: &Vector<Real>,
    vertex2: &Self,
    _prediction: Real,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
)

Compute contacts points between a face and a vertex.

This method assume we already know that at least one contact exists.

pub fn face_face_contacts<ManifoldData, ContactData: Default + Copy>(
    pos12: &Isometry<Real>,
    face1: &Self,
    normal1: &Vector<Real>,
    face2: &Self,
    _prediction: Real,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
)

Computes the contacts between two polygonal faces.

Trait Implementations

impl Debug for PolygonalFeature

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

Formats the value using the given formatter.

impl Default for PolygonalFeature

fn default() -> Self

Returns the “default value” for a type.

impl From<Segment> for PolygonalFeature

fn from(seg: Segment) -> Self

Performs the conversion.