Struct heron::rapier_plugin::rapier3d::prelude::PolygonalFeature [−][src]
pub struct PolygonalFeature {
pub vertices: [OPoint<f32, Const<3_usize>>; 4],
pub vids: [u32; 4],
pub eids: [u32; 4],
pub fid: u32,
pub num_vertices: usize,
}
Expand description
A polygonal feature representing the local polygonal approximation of a vertex, face, or edge of a convex shape.
Fields
vertices: [OPoint<f32, Const<3_usize>>; 4]
Up to four vertices forming this polygonal feature.
vids: [u32; 4]
The feature IDs of this polygon’s vertices.
eids: [u32; 4]
The feature IDs of this polygon’s edges.
fid: u32
The feature ID of this polygonal feature.
num_vertices: usize
The number of vertices on this polygon (must be <= 4).
Implementations
Creates a new empty polygonal feature.
Transform each vertex of this polygonal feature by the given position pos
.
pub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
_pos21: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
_sep_axis2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
pub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
_pos21: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
_sep_axis2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
Computes all the contacts between two polygonal features.
Trait Implementations
Returns the “default value” for a type. Read more
Performs the conversion.
Performs the conversion.
Auto Trait Implementations
impl RefUnwindSafe for PolygonalFeature
impl Send for PolygonalFeature
impl Sync for PolygonalFeature
impl Unpin for PolygonalFeature
impl UnwindSafe for PolygonalFeature
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
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
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub 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
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub 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
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given [World]
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more