Struct rapier2d::geometry::PolygonalFeature [−][src]
A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.
Fields
vertices: [Point<f32, U2>; 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<f32, U2, Unit<Complex<f32>>>)
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Transforms the vertices of self
by the given position pos
.
pub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, U2, Unit<Complex<f32>>>,
pos21: &Isometry<f32, U2, Unit<Complex<f32>>>,
sep_axis1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
sep_axis2: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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pos12: &Isometry<f32, U2, Unit<Complex<f32>>>,
pos21: &Isometry<f32, U2, Unit<Complex<f32>>>,
sep_axis1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
sep_axis2: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
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, U2, Unit<Complex<f32>>>,
face1: &PolygonalFeature,
sep_axis1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
vertex2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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pos12: &Isometry<f32, U2, Unit<Complex<f32>>>,
face1: &PolygonalFeature,
sep_axis1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
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, U2, Unit<Complex<f32>>>,
face1: &PolygonalFeature,
normal1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
face2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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pos12: &Isometry<f32, U2, Unit<Complex<f32>>>,
face1: &PolygonalFeature,
normal1: &Matrix<f32, U2, U1, <DefaultAllocator as Allocator<f32, U2, U1>>::Buffer>,
face2: &PolygonalFeature,
_prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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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pub fn default() -> PolygonalFeature
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impl From<Segment> for PolygonalFeature
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pub fn from(seg: Segment) -> 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> 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> 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<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
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>,