Struct CompoundPseudoNormals 

pub struct CompoundPseudoNormals {
    pub boundary_faces: Vec<CompoundFaceCone>,
}

The outward normal cones of one Compound part.

The 3D counterpart of the 2D edge cones: faces two parts share are cuts made by a convex decomposition, interior to the union where nothing can reach them, so they are absent and no contact normal can be clamped onto one.

Fields

boundary_faces: Vec<CompoundFaceCone>

One cone per boundary face of the part, in the part’s local frame.

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<(), Error>

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 dim3 only.

fn project_local_normal_mut(&self, dir: &mut Vec3) -> bool

Projects dir into the normal cone of the boundary face it points most directly out of, the way TrianglePseudoNormals does for one triangle.

Returns false for a part with no boundary face at all: it is buried inside the union, where nothing can touch it.

fn project_local_normal(&self, normal: Vec3) -> Option<Vec3>

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

fn project_local_normal1( &self, pos12: &Pose3, normal1: &mut Vec3, normal2: &mut Vec3, ) -> 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: &Pose3, normal1: &mut Vec3, normal2: &mut Vec3, ) -> 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.