Struct rapier2d::geometry::PolygonalFeature
source · [−]pub struct PolygonalFeature {
pub vertices: [OPoint<f32, Const<2_usize>>; 2],
pub vids: [u32; 2],
pub fid: u32,
pub num_vertices: usize,
}
Expand description
A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.
Fields
vertices: [OPoint<f32, Const<2_usize>>; 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
Transforms the vertices of self
by the given position pos
.
pub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pos21: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
sep_axis2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
pub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pos21: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
sep_axis2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
Computes the contacts between two polygonal features.
pub fn face_vertex_contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
face1: &PolygonalFeature,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
vertex2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
pub fn face_vertex_contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
face1: &PolygonalFeature,
sep_axis1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
vertex2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
face1: &PolygonalFeature,
normal1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
face2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
pub fn face_face_contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
face1: &PolygonalFeature,
normal1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
face2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
Computes the contacts between two polygonal faces.
Trait Implementations
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
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