Struct parry3d::shape::PolygonalFeature
source · [−]pub struct PolygonalFeature {
pub vertices: [Point<Real>; 4],
pub vids: [u32; 4],
pub eids: [u32; 4],
pub fid: u32,
pub num_vertices: usize,
}
Expand description
A polygonal feature representing the local polygonal approximation of a vertex, face, or edge of a convex shape.
Fields
vertices: [Point<Real>; 4]
Up to four vertices forming this polygonal feature.
vids: [u32; 4]
The feature IDs of this polygon’s vertices.
eids: [u32; 4]
The feature IDs of this polygon’s edges.
fid: u32
The feature ID of this polygonal feature.
num_vertices: usize
The number of vertices on this polygon (must be <= 4).
Implementations
sourceimpl PolygonalFeature
impl PolygonalFeature
sourcepub fn transform_by(&mut self, pos: &Isometry<Real>)
pub fn transform_by(&mut self, pos: &Isometry<Real>)
Transform each vertex of this polygonal feature by the given position pos
.
sourcepub 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
)
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
)
Computes all the contacts between two polygonal features.
Trait Implementations
sourceimpl Clone for PolygonalFeature
impl Clone for PolygonalFeature
sourcefn clone(&self) -> PolygonalFeature
fn clone(&self) -> PolygonalFeature
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for PolygonalFeature
impl Debug for PolygonalFeature
sourceimpl Default for PolygonalFeature
impl Default for PolygonalFeature
sourceimpl From<Segment> for PolygonalFeature
impl From<Segment> for PolygonalFeature
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
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more