Struct parry3d::shape::PolygonalFeature

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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.

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§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§

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impl PolygonalFeature

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pub fn new() -> Self

Creates a new empty polygonal feature.

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pub fn transform_by(&mut self, pos: &Isometry<Real>)

Transform each vertex of this polygonal feature by the given position pos.

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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§

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impl Clone for PolygonalFeature

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fn clone(&self) -> PolygonalFeature

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PolygonalFeature

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

Formats the value using the given formatter. Read more
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impl Default for PolygonalFeature

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl From<Segment> for PolygonalFeature

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fn from(seg: Segment) -> Self

Converts to this type from the input type.
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impl From<Triangle> for PolygonalFeature

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fn from(tri: Triangle) -> Self

Converts to this type from the input type.

Auto Trait Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> Downcast for T
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fn into_any(self: Box<T>) -> Box<dyn Any>

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.
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Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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impl<T> Same for T

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type Output = T

Should always be Self
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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T> ToOwned for T
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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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impl<T, U> TryFrom<U> for T
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type Error = Infallible

The type returned in the event of a conversion error.
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Performs the conversion.
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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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Performs the conversion.