Struct heron::rapier_plugin::rapier::parry::shape::PolygonalFeature [−][src]
pub struct PolygonalFeature { pub vertices: [Point<f32, 3_usize>; 4], pub vids: [u32; 4], pub eids: [u32; 4], pub fid: u32, pub num_vertices: usize, }
A polygonal feature representing the local polygonal approximation of a vertex, face, or edge of a convex shape.
Fields
vertices: [Point<f32, 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
impl PolygonalFeature
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pub fn new() -> PolygonalFeature
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Creates a new empty polygonal feature.
pub fn transform_by(
&mut self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
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&mut self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
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,
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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
impl Clone for PolygonalFeature
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pub fn clone(&self) -> PolygonalFeature
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pub fn clone_from(&mut self, source: &Self)
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impl Debug for PolygonalFeature
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impl Default for PolygonalFeature
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pub fn default() -> PolygonalFeature
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impl From<Segment> for PolygonalFeature
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pub fn from(seg: Segment) -> PolygonalFeature
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impl From<Triangle> for PolygonalFeature
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pub fn from(tri: Triangle) -> PolygonalFeature
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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
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Any + Clone,
T: Any + Clone,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> Downcast<T> for T
impl<T> DowncastSync for T where
T: Any + Send + Sync,
T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T> FromWorld for T where
T: Default,
T: Default,
pub fn from_world(_world: &mut World) -> T
impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<T> Upcast<T> for T
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,