Struct rapier2d::geometry::ConvexPolygon
source · [−]pub struct ConvexPolygon { /* private fields */ }
Expand description
A 2D convex polygon.
Implementations
sourceimpl ConvexPolygon
impl ConvexPolygon
sourceimpl ConvexPolygon
impl ConvexPolygon
sourcepub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this convex polygon, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this convex polygon.
sourceimpl ConvexPolygon
impl ConvexPolygon
sourcepub fn from_convex_hull(
points: &[OPoint<f32, Const<2_usize>>]
) -> Option<ConvexPolygon>
pub fn from_convex_hull(
points: &[OPoint<f32, Const<2_usize>>]
) -> Option<ConvexPolygon>
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.
sourcepub fn from_convex_polyline(
points: Vec<OPoint<f32, Const<2_usize>>, Global>
) -> Option<ConvexPolygon>
pub fn from_convex_polyline(
points: Vec<OPoint<f32, Const<2_usize>>, Global>
) -> Option<ConvexPolygon>
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 all points form an almost flat line.
sourcepub fn normals(
&self
) -> &[Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>]
pub fn normals(
&self
) -> &[Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>]
The normals of the edges of this convex polygon.
sourcepub fn scaled(
self,
scale: &Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Option<ConvexPolygon>
pub fn scaled(
self,
scale: &Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Option<ConvexPolygon>
Computes a scaled version of this convex polygon.
Returns None
if the result had degenerate normals (for example if
the scaling factor along one axis is zero).
sourcepub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> FeatureId
pub fn support_feature_id_toward(
&self,
local_dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> FeatureId
Get the ID of the feature with a normal that maximizes the dot product with local_dir
.
Trait Implementations
sourceimpl Clone for ConvexPolygon
impl Clone for ConvexPolygon
sourcefn clone(&self) -> ConvexPolygon
fn clone(&self) -> ConvexPolygon
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 ConvexPolygon
impl Debug for ConvexPolygon
sourceimpl PointQuery for ConvexPolygon
impl PointQuery for ConvexPolygon
sourcefn project_local_point(
&self,
point: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
point: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2_usize>>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2_usize>>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
sourcefn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
Projects a point on self
, unless the projection lies further than the given max distance. Read more
sourcefn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
fn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
Projects a point on self
transformed by m
, unless the projection lies further than the given max distance.
sourcefn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
.
sourcefn contains_local_point(&self, pt: &OPoint<f32, Const<2_usize>>) -> bool
fn contains_local_point(&self, pt: &OPoint<f32, Const<2_usize>>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
transformed by m
.
sourceimpl PolygonalFeatureMap for ConvexPolygon
impl PolygonalFeatureMap for ConvexPolygon
sourcefn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
Compute the support polygonal face of self
towards the dir
.
sourceimpl RayCast for ConvexPolygon
impl RayCast for ConvexPolygon
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourceimpl Shape for ConvexPolygon
impl Shape for ConvexPolygon
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
Clones this shape into a boxed trait-object.
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
Computes the AABB of this shape.
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
Computes the bounding-sphere of this shape.
sourcefn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
Computes the AABB of this shape with the given position.
sourcefn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
Gets the type tag of this shape.
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
Gets the underlying shape as an enum.
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
Convents this shape into its support mapping, if it has one.
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn feature_normal_at_point(
&self,
feature: FeatureId,
_point: &OPoint<f32, Const<2_usize>>
) -> Option<Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
fn feature_normal_at_point(
&self,
feature: FeatureId,
_point: &OPoint<f32, Const<2_usize>>
) -> Option<Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
The shape’s normal at the given point located on a specific feature.
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
end_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
end_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position. Read more
sourceimpl SupportMap for ConvexPolygon
impl SupportMap for ConvexPolygon
fn local_support_point(
&self,
dir: &Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> OPoint<f32, Const<2_usize>>
sourcefn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> OPoint<f32, Const<2_usize>>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> OPoint<f32, Const<2_usize>>
Same as self.local_support_point
except that dir
is normalized.
fn support_point(
&self,
transform: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
dir: &Matrix<f32, Const<2_usize>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> OPoint<f32, Const<2_usize>>
Auto Trait Implementations
impl RefUnwindSafe for ConvexPolygon
impl Send for ConvexPolygon
impl Sync for ConvexPolygon
impl Unpin for ConvexPolygon
impl UnwindSafe for ConvexPolygon
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,
impl<T> Pointable for T
impl<T> Pointable for T
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