Trait PolygonalFeatureMap

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pub trait PolygonalFeatureMap: SupportMap {
    // Required method
    fn local_support_feature(
        &self,
        dir: Vector,
        out_feature: &mut PolygonalFeature,
    );

    // Provided methods
    fn local_support_feature_toward(
        &self,
        dir: Vector,
        hint: Vector,
        out_feature: &mut PolygonalFeature,
    ) { ... }
    fn is_convex_polyhedron(&self) -> bool { ... }
}

Expand description

Trait implemented by convex shapes with features with polyhedral approximations.

Required Methods§

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fn local_support_feature(&self, dir: Vector, out_feature: &mut PolygonalFeature)

Compute the support polygonal face of self towards the dir.

Provided Methods§

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fn local_support_feature_toward( &self, dir: Vector, hint: Vector, out_feature: &mut PolygonalFeature, )

Compute the support polygonal face of self towards dir, oriented so that it best covers the neighborhood of the local-space point hint.

The default implementation ignores hint, which is exact for genuine polygons. Shapes approximating a curved feature (like a cylinder cap by an inscribed square) must orient it from hint: a fixed azimuth misses up to ~36% of the cap near its rim, leaving contacts there with a single unclippable point.

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