Struct CompoundPseudoNormals 

pub struct CompoundPseudoNormals {
    pub boundary_edges: Vec<CompoundEdgeCone>,
}

The outward normal cones of one Compound part.

Parts of a decomposed outline meet along cut edges that lie inside the union, where nothing can reach them – but each part is convex and reports contacts against its own faces regardless, so a body sliding across a join catches on a face that is not a surface. Dropping the edges a sibling part covers leaves every part facing the way the union does.

The Compound counterpart of SegmentPseudoNormals and TrianglePseudoNormals, which describe a part that is a single face; a compound part is a whole polygon, so it carries one cone per boundary edge.

Fields

boundary_edges: Vec<CompoundEdgeCone>

One cone per boundary edge, in the part’s local frame. Cut edges are absent.

Trait Implementations

impl Clone for CompoundPseudoNormals

fn clone(&self) -> CompoundPseudoNormals

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CompoundPseudoNormals

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CompoundPseudoNormals

fn default() -> CompoundPseudoNormals

Returns the “default value” for a type.

impl NormalConstraints for CompoundPseudoNormals

Available on crate features alloc and dim2 only.

fn project_local_normal_mut(&self, dir: &mut Vector) -> bool

Projects dir onto the closest direction the part’s outline can face.

Returns false when nothing faces that way, so a contact reached from inside the union is dropped rather than turned around.

fn project_local_normal(&self, normal: Vector) -> Option<Vector>

Corrects or discards the specified normal (assumed to be unit-sized) based on the constraints encoded by Self.

fn project_local_normal1( &self, pos12: &Pose, normal1: &mut Vector, normal2: &mut Vector, ) -> bool

Applies normal correction to the unit vectors normal1 and normal2 based on the assumption that normal1 is in the same coordinates space as Self.

fn project_local_normal2( &self, pos12: &Pose, normal1: &mut Vector, normal2: &mut Vector, ) -> bool

Applies normal correction to the unit vectors normal1 and normal2 based on the assumption that normal2 is in the same coordinates space as Self.