Struct parry3d::shape::PolygonalFeature
source · pub struct PolygonalFeature {
pub vertices: [Point<Real>; 4],
pub vids: [PackedFeatureId; 4],
pub eids: [PackedFeatureId; 4],
pub fid: PackedFeatureId,
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: [Point<Real>; 4]
Up to four vertices forming this polygonal feature.
vids: [PackedFeatureId; 4]
The feature IDs of this polygon’s vertices.
eids: [PackedFeatureId; 4]
The feature IDs of this polygon’s edges.
fid: PackedFeatureId
The feature ID of this polygonal feature.
num_vertices: usize
The number of vertices on this polygon (must be <= 4).
Implementations§
source§impl PolygonalFeature
impl PolygonalFeature
sourcepub fn transform_by(&mut self, pos: &Isometry<Real>)
pub fn transform_by(&mut self, pos: &Isometry<Real>)
Transform each vertex of this polygonal feature by the given position pos
.
sourcepub fn contacts<ManifoldData, ContactData: Default + Copy>(
pos12: &Isometry<Real>,
_pos21: &Isometry<Real>,
sep_axis1: &Vector<Real>,
_sep_axis2: &Vector<Real>,
feature1: &Self,
feature2: &Self,
manifold: &mut ContactManifold<ManifoldData, ContactData>,
flipped: bool
)
pub fn contacts<ManifoldData, ContactData: Default + Copy>( pos12: &Isometry<Real>, _pos21: &Isometry<Real>, sep_axis1: &Vector<Real>, _sep_axis2: &Vector<Real>, feature1: &Self, feature2: &Self, manifold: &mut ContactManifold<ManifoldData, ContactData>, flipped: bool )
Computes all the contacts between two polygonal features.
Trait Implementations§
source§impl Clone for PolygonalFeature
impl Clone for PolygonalFeature
source§fn clone(&self) -> PolygonalFeature
fn clone(&self) -> PolygonalFeature
Returns a copy of the value. Read more
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moresource§impl Debug for PolygonalFeature
impl Debug for PolygonalFeature
source§impl Default for PolygonalFeature
impl Default for PolygonalFeature
source§impl From<Segment> for PolygonalFeature
impl From<Segment> for PolygonalFeature
Auto Trait Implementations§
impl Freeze for PolygonalFeature
impl RefUnwindSafe for PolygonalFeature
impl Send for PolygonalFeature
impl Sync for PolygonalFeature
impl Unpin for PolygonalFeature
impl UnwindSafe for PolygonalFeature
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
source§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
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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
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(where Trait: Downcast
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. Rc<Any>
can then be
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fn as_any(&self) -> &(dyn Any + 'static)
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) to &Any
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’s.source§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T
source§impl<T> IntoEither for T
impl<T> IntoEither for T
source§fn into_either(self, into_left: bool) -> Either<Self, Self>
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variant of Either<Self, Self>
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returns true
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Converts self
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otherwise. Read moresource§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
source§fn 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 moresource§fn is_in_subset(&self) -> bool
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Use with care! Same as
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fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
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