Struct rapier2d::geometry::ConvexPolygon

pub struct ConvexPolygon { /* fields omitted */ }

A 2D convex polygon.

Implementations

impl ConvexPolygon

pub fn aabb(&self, pos: &Isometry<f32, U2, Unit<Complex<f32>>>) -> AABB

Computes the world-space AABB of this convex polygon, transformed by pos.

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this convex polygon.

impl ConvexPolygon

pub fn bounding_sphere(
    &self,
    pos: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> BoundingSphere

Computes the world-space bounding sphere of this convex polygon, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this convex polygon.

impl ConvexPolygon

pub fn from_convex_hull(points: &[Point<f32, U2>]) -> Option<ConvexPolygon>

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 from_convex_polyline(
    points: Vec<Point<f32, U2>, Global>
) -> Option<ConvexPolygon>

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 all points form an almost flat line.

pub fn points(&self) -> &[Point<f32, U2>]

The vertices of this convex polygon.

pub fn normals(
    &self
) -> &[Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>]

The normals of the edges of this convex polygon.

pub fn support_feature_id_toward(
    &self,
    local_dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>
) -> FeatureId

Get the ID of the feature with a normal that maximizes the dot product with local_dir.

Trait Implementations

impl Clone for ConvexPolygon

pub fn clone(&self) -> ConvexPolygon

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ConvexPolygon

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

Formats the value using the given formatter.

impl PointQuery for ConvexPolygon

pub fn project_local_point(
    &self,
    point: &Point<f32, U2>,
    solid: bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    point: &Point<f32, U2>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

pub fn distance_to_local_point(&self, pt: &Point<f32, U2>, solid: bool) -> f32

Computes the minimal distance between a point and self.

pub fn contains_local_point(&self, pt: &Point<f32, U2>) -> bool

Tests if the given point is inside of self.

pub fn project_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self transformed by m.

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

pub fn contains_point(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    pt: &Point<f32, U2>
) -> bool

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

impl PolygonalFeatureMap for ConvexPolygon

pub fn local_support_feature(
    &self,
    dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>,
    out_feature: &mut PolygonalFeature
)

Compute the support polygonal face of self towards the dir.

impl RayCast for ConvexPolygon

pub fn cast_local_ray_and_get_normal(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

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

pub fn cast_local_ray(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

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

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, U2, Unit<Complex<f32>>>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for ConvexPolygon

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn mass_properties(&self, density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

pub fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

pub fn compute_bounding_sphere(
    &self,
    position: &Isometry<f32, U2, Unit<Complex<f32>>>
) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, U2>
) -> Option<Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>>

The shape’s normal at the given point located on a specific feature.

impl SupportMap for ConvexPolygon

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>
) -> Point<f32, U2>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>
) -> Point<f32, U2>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32, U2, Unit<Complex<f32>>>,
    dir: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>
) -> Point<f32, U2>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32, U2, Unit<Complex<f32>>>,
    dir: &Unit<Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>>
) -> Point<f32, U2>

Same as self.support_point except that dir is normalized.