Struct parry2d_f64::shape::ConvexPolygon

pub struct ConvexPolygon { /* private fields */ }

A 2D convex polygon.

Implementations

impl ConvexPolygon

pub fn aabb(&self, pos: &Isometry<Real>) -> Aabb

Computes the world-space Aabb of this convex polygon, transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this convex polygon.

impl ConvexPolygon

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere

Computes the world-space bounding sphere of this convex polygon, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this convex polygon.

impl ConvexPolygon

pub fn from_convex_hull(points: &[Point<Real>]) -> Option<Self>

Creates a new 2D convex polygon from an arbitrary set of points.

This explicitly computes the convex hull of the given set of points. Returns None if the convex hull computation failed.

pub fn from_convex_polyline(points: Vec<Point<Real>>) -> Option<Self>

Creates a new 2D convex polygon from a set of points assumed to describe a counter-clockwise convex polyline.

Convexity of the input polyline is not checked. Returns None if all points form an almost flat line.

pub fn points(&self) -> &[Point<Real>]

The vertices of this convex polygon.

pub fn normals(&self) -> &[Unit<Vector<Real>>]

The normals of the edges of this convex polygon.

pub fn scaled(self, scale: &Vector<Real>) -> Option<Self>

Computes a scaled version of this convex polygon.

Returns None if the result had degenerate normals (for example if the scaling factor along one axis is zero).

pub fn offsetted(&self, amount: Real) -> Self

Returns a mitered offset of the polygon.

Arguments

• amount - size of the inflation. Each edge is moved outwards by this amount.

Panics

Panics if amount is not a non-negative finite number.

pub fn support_feature_id_toward( &self, local_dir: &Unit<Vector<Real>> ) -> FeatureId

Get the ID of the feature with a normal that maximizes the dot product with local_dir.

pub fn feature_normal(&self, feature: FeatureId) -> Option<Unit<Vector<Real>>>

The normal of the given feature.

Trait Implementations

impl Clone for ConvexPolygon

fn clone(&self) -> ConvexPolygon

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ConvexPolygon

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

Formats the value using the given formatter.

impl PointQuery for ConvexPolygon

fn project_local_point( &self, point: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real

Computes the minimal distance between a point and self transformed by m.

fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

Tests if the given point is inside of self transformed by m.

impl PolygonalFeatureMap for ConvexPolygon

fn local_support_feature( &self, dir: &Unit<Vector<Real>>, out_feature: &mut PolygonalFeature )

Compute the support polygonal face of self towards the dir.

fn is_convex_polyhedron(&self) -> bool

Is this shape a ConvexPolyhedron?

impl RayCast for ConvexPolygon

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<Real>

Computes the time of impact between this transform shape and a ray.

fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for ConvexPolygon

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point( &self, feature: FeatureId, _point: &Point<Real> ) -> Option<Unit<Vector<Real>>>

The shape’s normal at the given point located on a specific feature.

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn compute_swept_aabb( &self, start_pos: &Isometry<Real>, end_pos: &Isometry<Real> ) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.

impl SupportMap for ConvexPolygon

fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<Real>, dir: &Vector<Real> ) -> Point<Real>

fn support_point_toward( &self, transform: &Isometry<Real>, dir: &Unit<Vector<Real>> ) -> Point<Real>

Same as self.support_point except that dir is normalized.