Struct rapier3d::geometry::PolygonalFeature
source · [−]pub struct PolygonalFeature {
pub vertices: [OPoint<f32, Const<3_usize>>; 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: [OPoint<f32, Const<3_usize>>; 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 new() -> PolygonalFeature
pub fn new() -> PolygonalFeature
Creates a new empty polygonal feature.
sourcepub fn transform_by(
&mut self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
pub fn transform_by(
&mut self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
Transform each vertex of this polygonal feature by the given position pos
.
sourcepub fn contacts<ManifoldData, ContactData>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
_pos21: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
sep_axis1: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
_sep_axis2: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_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<Quaternion<f32>>, 3_usize>,
_pos21: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
sep_axis1: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
_sep_axis2: &Matrix<f32, Const<3_usize>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
feature1: &PolygonalFeature,
feature2: &PolygonalFeature,
prediction: f32,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
) where
ContactData: Default + Copy,
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
sourcefn default() -> PolygonalFeature
fn default() -> PolygonalFeature
Returns the “default value” for a type. Read more
sourceimpl From<Segment> for PolygonalFeature
impl From<Segment> for PolygonalFeature
sourcefn from(seg: Segment) -> PolygonalFeature
fn from(seg: Segment) -> PolygonalFeature
Converts to this type from the input type.
sourceimpl From<Triangle> for PolygonalFeature
impl From<Triangle> for PolygonalFeature
sourcefn from(tri: Triangle) -> PolygonalFeature
fn from(tri: Triangle) -> PolygonalFeature
Converts to this type from the input type.
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,
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