[−][src]Trait oxygengine_physics_2d::prelude::ncollide2d::shape::ConvexPolyhedron

pub trait ConvexPolyhedron<N>: SupportMap<N> where
    N: RealField, {
    fn vertex(&self, id: FeatureId) -> Point<N, U2>;

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

    fn feature_normal(
        &self, 
        feature: FeatureId
    ) -> Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>;

    fn support_face_toward(
        &self, 
        transform: &Isometry<N, U2, Unit<Complex<N>>>, 
        dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>, 
        out: &mut ConvexPolygonalFeature<N>
    );

    fn support_feature_toward(
        &self, 
        transform: &Isometry<N, U2, Unit<Complex<N>>>, 
        dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>, 
        _angle: N, 
        out: &mut ConvexPolygonalFeature<N>
    );

    fn support_feature_id_toward(
        &self, 
        local_dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>
    ) -> FeatureId;
}

Trait implemented by all convex polyhedron.

Required methods

fn vertex(&self, id: FeatureId) -> Point<N, U2>

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 feature_normal(
    &self,
    feature: FeatureId
) -> Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>

Returns any normal from the normal cone of the given feature.

fn support_face_toward(
    &self,
    transform: &Isometry<N, U2, Unit<Complex<N>>>,
    dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>,
    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, U2, Unit<Complex<N>>>,
    dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>,
    _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<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>
) -> FeatureId

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

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Implementors

impl<N> ConvexPolyhedron<N> for ConvexPolygon<N> where
    N: RealField, [src]

impl<N> ConvexPolyhedron<N> for Cuboid<N> where
    N: RealField, [src]

impl<N> ConvexPolyhedron<N> for Segment<N> where
    N: RealField, [src]

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