Struct parry2d_f64::shape::PolygonalFeature [−][src]
A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.
Fields
vertices: [Point<Real>; 2]
Up to two vertices forming this polygonal feature.
vids: [u32; 2]
The feature IDs of this polygon’s vertices.
fid: u32
The feature ID of this polygonal feature.
num_vertices: usize
The number of vertices on this polygon (must be <= 4).
Implementations
impl PolygonalFeature
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pub fn transform_by(&mut self, pos: &Isometry<Real>)
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Transforms the vertices of self
by the given position pos
.
pub fn contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
pos21: &Isometry<Real>,
sep_axis1: &Vector<Real>,
sep_axis2: &Vector<Real>,
feature1: &Self,
feature2: &Self,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
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pos12: &Isometry<Real>,
pos21: &Isometry<Real>,
sep_axis1: &Vector<Real>,
sep_axis2: &Vector<Real>,
feature1: &Self,
feature2: &Self,
prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
Computes the contacts between two polygonal features.
pub fn face_vertex_contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
face1: &Self,
sep_axis1: &Vector<Real>,
vertex2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
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pos12: &Isometry<Real>,
face1: &Self,
sep_axis1: &Vector<Real>,
vertex2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
Compute contacts points between a face and a vertex.
This method assume we already know that at least one contact exists.
pub fn face_face_contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
face1: &Self,
normal1: &Vector<Real>,
face2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
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pos12: &Isometry<Real>,
face1: &Self,
normal1: &Vector<Real>,
face2: &Self,
_prediction: Real,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
Computes the contacts between two polygonal faces.
Trait Implementations
impl Debug for PolygonalFeature
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impl Default for PolygonalFeature
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impl From<Segment> for PolygonalFeature
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Auto Trait Implementations
impl RefUnwindSafe for PolygonalFeature
impl Send for PolygonalFeature
impl Sync for PolygonalFeature
impl Unpin for PolygonalFeature
impl UnwindSafe for PolygonalFeature
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Az for T
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CheckedAs for T
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pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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pub fn overflowing_as<Dst>(self) -> (Dst, bool) where
T: OverflowingCast<Dst>,
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T: OverflowingCast<Dst>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> UnwrappedAs for T
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pub fn unwrapped_as<Dst>(self) -> Dst where
T: UnwrappedCast<Dst>,
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T: UnwrappedCast<Dst>,
impl<T> WrappingAs for T
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pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,