Trait ncollide2d::shape::ConvexPolyhedron

pub trait ConvexPolyhedron<N: Real>: SupportMap<N> {
    fn vertex(&self, id: FeatureId) -> Point<N>;
    fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>);
    fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>;
    fn support_face_toward(
        &self,
        transform: &Isometry<N>,
        dir: &Unit<Vector<N>>,
        out: &mut ConvexPolygonalFeature<N>
    );
    fn support_feature_toward(
        &self,
        transform: &Isometry<N>,
        dir: &Unit<Vector<N>>,
        _angle: N,
        out: &mut ConvexPolygonalFeature<N>
    );
    fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId;
}

Trait implemented by all convex polyhedron.

Required Methods

fn vertex(&self, id: FeatureId) -> Point<N>

Gets the specified vertex in the shape local-space.

fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape’s local-space.

fn normal_cone(&self, feature: FeatureId) -> PolyhedralCone<N>

Get the normal cone of the specified feature, in the shape’s local-space.

fn support_face_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    out: &mut ConvexPolygonalFeature<N>
)

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

fn support_feature_toward(
    &self,
    transform: &Isometry<N>,
    dir: &Unit<Vector<N>>,
    _angle: N,
    out: &mut ConvexPolygonalFeature<N>
)

Retrieve the feature (in world-space) which normal cone contains dir.

fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId

Retrieve the identifier of the feature which normal cone contains dir.

Implementors

impl<N: Real> ConvexPolyhedron<N> for ConvexPolygon<N>

impl<N: Real> ConvexPolyhedron<N> for Cuboid<N>

impl<N: Real> ConvexPolyhedron<N> for Segment<N>