Struct ncollide3d::shape::ConvexPolygonalFeature

pub struct ConvexPolygonalFeature<N: Real> {
    pub vertices: Vec<Point<N>>,
    pub edge_normals: Vec<Vector<N>>,
    pub normal: Option<Unit<Vector<N>>>,
    pub feature_id: FeatureId,
    pub vertices_id: Vec<FeatureId>,
    pub edges_id: Vec<FeatureId>,
}

Represents a convex polygonal approximation of a face of a solid.

It is never checked if the vertices actually form a convex polygon. If they do not, results of any geometric query may end up being invalid.

Fields

vertices: Vec<Point<N>>

The vertices of this face.

edge_normals: Vec<Vector<N>>

The outward normal of the edges if it is a face.

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: Vec<FeatureId>

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

edges_id: Vec<FeatureId>

The shape-dependent indentifier of each edge 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 normals 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 nedges(&self) -> usize

The number of edges of this convex polygonal face.

pub fn edge(&self, edge_id: FeatureId) -> Option<Segment<N>>

Retrieves the edge with the given feature id.

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

Adds a scaled edge normal to this face.

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

Adds an edge normal to this face.

pub fn recompute_edge_normals(&mut self)

Automatically recomputes the scaled edge normals (3D only).

Panics if the ambient space is not 3D.

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

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

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

Sets the outward normal of this convex polygonal face.

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

Add the shape-dependent identifier of a edge of this feature (if it is a face).

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

Add the shape-dependent identifier of 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.