Struct ncollide2d::shape::ConvexPolygonalFeature

pub struct ConvexPolygonalFeature<N: Real> {
    pub vertices: [Point<N>; 2],
    pub nvertices: usize,
    pub normal: Option<Unit<Vector<N>>>,
    pub feature_id: FeatureId,
    pub vertices_id: [FeatureId; 2],
}

A feature (face or vertex) of a 2D convex polygon.

Fields

vertices: [Point<N>; 2]

The vertices of this face.

nvertices: usize

Number of vertices in vertices to be considered.

normal: Option<Unit<Vector<N>>>

The normal of this feature if it is an edge.

feature_id: FeatureId

The shape-dependent identifier of this feature.

vertices_id: [FeatureId; 2]

The shape-dependent indentifier of each vertex of this feature.

Methods

impl<N: Real> ConvexPolygonalFeature<N>

pub fn new() -> Self

Creates a new empty convex polygonal faces.

pub fn clear(&mut self)

Removes all the vertices, normals, and feature IDs of this feature.

pub fn transform_by(&mut self, m: &Isometry<N>)

Transforms all the vertices and normal of this feature by the given isometry.

pub fn push(&mut self, pt: Point<N>, id: FeatureId)

Adds a vertex to this face.

It is not checked whether pt breaks the convexity of the polyhedral face.

pub fn nvertices(&self) -> usize

The number of vertices of this face.

pub fn vertices(&self) -> &[Point<N>]

The vertices of this convex polygonal face.

pub fn set_normal(&mut self, normal: Unit<Vector<N>>)

Sets the outward normal of this convex polygonal face.

pub fn set_feature_id(&mut self, id: FeatureId)

Sets the identifier of the feature represented by this convex polygon.

pub fn project_point(&self, pt: &Point<N>) -> Option<Contact<N>>

Projects a point on this feature.

Trait Implementations

impl<N: Clone + Real> Clone for ConvexPolygonalFeature<N>

fn clone(&self) -> ConvexPolygonalFeature<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + Real> Debug for ConvexPolygonalFeature<N>

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

Formats the value using the given formatter.