Struct rapier2d::geometry::PolygonalFeature

pub struct PolygonalFeature {
    pub vertices: [Point<f32, 2_usize>; 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<f32, 2_usize>; 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<f32, Unit<Complex<f32>>, 2_usize>)

Transforms the vertices of self by the given position pos.

pub fn contacts<ManifoldData, ContactData>(
    pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pos21: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
    sep_axis2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
    feature1: &PolygonalFeature,
    feature2: &PolygonalFeature,
    prediction: f32,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
) where
    ContactData: Default + Copy, 

Computes the contacts between two polygonal features.

pub fn face_vertex_contacts<ManifoldData, ContactData>(
    pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    face1: &PolygonalFeature,
    sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
    vertex2: &PolygonalFeature,
    _prediction: f32,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
) where
    ContactData: Default + Copy, 

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>(
    pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    face1: &PolygonalFeature,
    normal1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
    face2: &PolygonalFeature,
    _prediction: f32,
    manifold: &mut ContactManifold<ManifoldData, ContactData>,
    flipped: bool
) where
    ContactData: Default + Copy, 

Computes the contacts between two polygonal faces.

Trait Implementations

impl Debug for PolygonalFeature

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

Formats the value using the given formatter.

impl Default for PolygonalFeature

pub fn default() -> PolygonalFeature

Returns the “default value” for a type.

impl From<Segment> for PolygonalFeature

pub fn from(seg: Segment) -> PolygonalFeature

Performs the conversion.