Struct jumpy::core::physics::rapier::PolygonalFeature

pub struct PolygonalFeature {
    pub vertices: [OPoint<f32, Const<2>>; 2],
    pub vids: [PackedFeatureId; 2],
    pub fid: PackedFeatureId,
    pub num_vertices: usize,
}

A polygonal feature representing the local polygonal approximation of a vertex, or face, of a convex shape.

Fields

vertices: [OPoint<f32, Const<2>>; 2]

Up to two vertices forming this polygonal feature.

vids: [PackedFeatureId; 2]

The feature IDs of this polygon’s vertices.

fid: PackedFeatureId

The feature ID of this polygonal feature.

num_vertices: usize

The number of vertices on this polygon (must be <= 4).

Implementations

impl PolygonalFeature

pub fn transform_by(&mut self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>)

Transforms the vertices of self by the given position pos.

pub fn contacts<ManifoldData, ContactData>( pos12: &Isometry<f32, Unit<Complex<f32>>, 2>, pos21: &Isometry<f32, Unit<Complex<f32>>, 2>, sep_axis1: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, sep_axis2: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, feature1: &PolygonalFeature, feature2: &PolygonalFeature, prediction: f32, manifold: &mut ContactManifold<ManifoldData, ContactData>, flipped: bool, )

where ContactData: Default + Copy,

Computes the contacts between two polygonal features.

pub fn face_vertex_contacts<ManifoldData, ContactData>( pos12: &Isometry<f32, Unit<Complex<f32>>, 2>, face1: &PolygonalFeature, sep_axis1: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, vertex2: &PolygonalFeature, _prediction: f32, manifold: &mut ContactManifold<ManifoldData, ContactData>, flipped: bool, )

where ContactData: Default + Copy,

Compute contacts points between a face and a vertex.

This method assume we already know that at least one contact exists.

pub fn face_face_contacts<ManifoldData, ContactData>( pos12: &Isometry<f32, Unit<Complex<f32>>, 2>, face1: &PolygonalFeature, normal1: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, face2: &PolygonalFeature, _prediction: f32, manifold: &mut ContactManifold<ManifoldData, ContactData>, flipped: bool, )

where ContactData: Default + Copy,

Computes the contacts between two polygonal faces.

Trait Implementations

impl Debug for PolygonalFeature

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

Formats the value using the given formatter.

impl Default for PolygonalFeature

fn default() -> PolygonalFeature

Returns the “default value” for a type.

impl From<Segment> for PolygonalFeature

fn from(seg: Segment) -> PolygonalFeature

Converts to this type from the input type.