Struct oxygengine_physics_2d::prelude::ConvexPolygon

pub struct ConvexPolygon<N> where
    N: RealField + Copy,  { /* fields omitted */ }

A 2D convex polygon.

Implementations

impl<N> ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn try_from_points(
    points: &[OPoint<N, Const<2_usize>>]
) -> Option<ConvexPolygon<N>>

Creates a new 2D convex polygon from an arbitrary set of points.

This explicitly computes the convex hull of the given set of points. Use Returns None if the convex hull computation failed.

pub fn try_new(
    points: Vec<OPoint<N, Const<2_usize>>, Global>
) -> Option<ConvexPolygon<N>>

Creates a new 2D convex polygon from a set of points assumed to describe a counter-clockwise convex polyline.

Convexity of the input polyline is not checked. Returns None if some consecutive points are identical (or too close to being so).

pub fn points(&self) -> &[OPoint<N, Const<2_usize>>]

The vertices of this convex polygon.

pub fn normals(
    &self
) -> &[Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>]

The normals of the edges of this convex polygon.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>
) -> bool

Checks that the given direction in world-space is on the tangent cone of the given feature.

Trait Implementations

impl<N> Clone for ConvexPolygon<N> where
    N: Clone + RealField + Copy, 

pub fn clone(&self) -> ConvexPolygon<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> ConvexPolyhedron<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn vertex(&self, id: FeatureId) -> OPoint<N, Const<2_usize>>

Gets the specified vertex in the shape local-space.

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

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

pub fn feature_normal(
    &self,
    feature: FeatureId
) -> Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>

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

pub fn support_face_toward(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>,
    out: &mut ConvexPolygonalFeature<N>
)

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

pub fn support_feature_toward(
    &self,
    transform: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>,
    _angle: N,
    out: &mut ConvexPolygonalFeature<N>
)

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

pub fn support_feature_id_toward(
    &self,
    local_dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>
) -> FeatureId

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

impl<N> Debug for ConvexPolygon<N> where
    N: Debug + RealField + Copy, 

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<'de, N> Deserialize<'de> for ConvexPolygon<N> where
    N: RealField + Copy + Deserialize<'de>, 

pub fn deserialize<__D>(
    __deserializer: __D
) -> Result<ConvexPolygon<N>, <__D as Deserializer<'de>>::Error> where
    __D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.

impl<N> HasBoundingVolume<N, AABB<N>> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> AABB<N>

The bounding volume of self transformed by m.

pub fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N> HasBoundingVolume<N, BoundingSphere<N>> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn bounding_volume(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>

The bounding volume of self transformed by m.

pub fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N> PointQuery<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn project_point(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    point: &OPoint<N, Const<2_usize>>,
    solid: bool
) -> PointProjection<N>

Projects a point on self transformed by m.

pub fn project_point_with_feature(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    point: &OPoint<N, Const<2_usize>>
) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

fn distance_to_point(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    pt: &OPoint<N, Const<2_usize>>,
    solid: bool
) -> N

Computes the minimal distance between a point and self transformed by m.

fn contains_point(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    pt: &OPoint<N, Const<2_usize>>
) -> bool

Tests if the given point is inside of self transformed by m.

impl<N> RayCast<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<RayIntersection<N>>

Computes the time of impact, and normal between this transformed shape and a ray.

fn toi_with_ray(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    ray: &Ray<N>,
    max_toi: N,
    solid: bool
) -> Option<N>

Computes the time of impact between this transform shape and a ray.

fn intersects_ray(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    ray: &Ray<N>,
    max_toi: N
) -> bool

Tests whether a ray intersects this transformed shape.

impl<N> Serialize for ConvexPolygon<N> where
    N: RealField + Copy + Serialize, 

pub fn serialize<__S>(
    &self,
    __serializer: __S
) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error> where
    __S: Serializer, 

Serialize this value into the given Serde serializer.

impl<N> Shape<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn aabb(&self, m: &Isometry<N, Unit<Complex<N>>, 2_usize>) -> AABB<N>

The AABB of self transformed by m.

pub fn local_aabb(&self) -> AABB<N>

The AABB of self.

pub fn bounding_sphere(
    &self,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

pub fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

pub fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

pub fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

pub fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

pub fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

pub fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

pub fn tangent_cone_contains_dir(
    &self,
    feature: FeatureId,
    m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    Option<&[N]>,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn subshape_containing_feature(&self, _i: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N> SupportMap<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn local_support_point(
    &self,
    dir: &Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> OPoint<N, Const<2_usize>>

fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>
) -> OPoint<N, Const<2_usize>>

Same as self.local_support_point except that dir is normalized.

fn support_point(
    &self,
    transform: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    dir: &Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> OPoint<N, Const<2_usize>>

fn support_point_toward(
    &self,
    transform: &Isometry<N, Unit<Complex<N>>, 2_usize>,
    dir: &Unit<Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>>
) -> OPoint<N, Const<2_usize>>

Same as self.support_point except that dir is normalized.

impl<N> Volumetric<N> for ConvexPolygon<N> where
    N: RealField + Copy, 

pub fn area(&self) -> N

Computes the area of this object.

pub fn volume(&self) -> N

Computes the volume of this object.

pub fn center_of_mass(&self) -> OPoint<N, Const<2_usize>>

Computes the center of mass of this object.

pub fn unit_angular_inertia(
    &self
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>

Computes the angular inertia tensor of this object.

pub fn mass_properties(
    &self,
    density: N
) -> (N, OPoint<N, Const<2_usize>>, Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>)

Given its density, this computes the mass, center of mass, and inertia tensor of this object.

fn mass(&self, density: N) -> N

Given its density, this computes the mass of this object.

fn angular_inertia(
    &self,
    mass: N
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>

Given its mass, this computes the angular inertia of this object.

fn transformed_mass_properties(
    &self,
    density: N,
    pos: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> (OPoint<N, Const<2_usize>>, Inertia2<N>)

Given its density and position, this computes the mass, transformed center of mass, and transformed inertia tensor of this object.

fn inertia(&self, density: N) -> Inertia2<N>