Struct ncollide2d::shape::Polyline

pub struct Polyline<N: RealField> { /* fields omitted */ }

A polygonal line.

Methods

impl<N: RealField> Polyline<N>

pub fn new(
    points: Vec<Point<N>>,
    indices: Option<Vec<Point2<usize>>>
) -> Polyline<N>

Builds a new polyline.

pub fn quad(nx: usize, ny: usize) -> Self

A polyline shaped like a quad, in the x-y plane.

pub fn aabb(&self) -> &AABB<N>

The polyline's AABB.

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

The points of this polyline.

pub fn edges(&self) -> &[PolylineEdge<N>]

The edges of this polyline.

pub fn oriented(&self) -> bool

Whether this polyline is considered is oriented or not.

By default a polyline is not oriented.

pub fn set_oriented(&mut self, oriented: bool)

Whether this polyline is considered as oriented or not.

This is determined at the initialization of the polyline.

pub fn edge_containing_feature(&self, id: FeatureId) -> usize

Face containing feature.

pub fn segment_feature_to_polyline_feature(
    &self,
    edge_id: usize,
    feature: FeatureId
) -> FeatureId

Converts a segment FeatureId to a polyline FeatureId.

pub fn edge_segment(&self, i: usize) -> Segment<N>

The segment of the i-th edge on this polyline.

pub fn segment_at(&self, i: usize) -> Segment<N>

Gets the i-th polyline element.

pub fn bvt(&self) -> &BVT<usize, AABB<N>>

The optimization structure used by this polyline.

pub fn vertex_tangent_cone_contains_dir(
    &self,
    i: usize,
    deformations: Option<&[N]>,
    dir: &Unit<Vector<N>>
) -> bool

Tests that the given dir is on the tangent cone of the ith vertex of this polyline.

pub fn transform_by(&mut self, transform: &Isometry<N>)

Applies in-place a transformation to this polyline.

pub fn transformed(self, t: &Isometry<N>) -> Self

Applies a transformation to this polyline.

pub fn scale_by(&mut self, scale: &Vector<N>)

Applies in-place a non-uniform scale to this polyline.

pub fn scaled(self, s: &Vector<N>) -> Self

Applies a non-uniform scale to this polyline.

pub fn is_backface(&self, feature: FeatureId) -> bool

Returns true if the given feature is a FeatureId::Face and identifies a backface of this polyline.

pub fn vertex_tangent_cone_polar_contains_dir(
    &self,
    i: usize,
    dir: &Unit<Vector<N>>,
    sin_ang_tol: N
) -> bool

Tests that the given dir is on the polar of the tangent cone of the ith vertex of this polyline.

pub fn edge_tangent_cone_contains_dir(
    &self,
    i: usize,
    deformations: Option<&[N]>,
    dir: &Unit<Vector<N>>
) -> bool

Tests that the given dir is on the tangent cone of the ith edge of this polyline.

pub fn edge_tangent_cone_polar_contains_dir(
    &self,
    i: usize,
    dir: &Unit<Vector<N>>,
    cos_ang_tol: N
) -> bool

Tests whether the polar of the tangent cone of the i-th edge of this polyline contains the direction dir considering the cosinus of an angular tolerance cos_ang_tol.

pub fn tangent_cone_polar_contains_dir(
    &self,
    _feature: FeatureId,
    _dir: &Unit<Vector<N>>,
    _sin_ang_tol: N,
    _cos_ang_tol: N
) -> bool

(Not yet implemented) Tests whether the polar of the tangent cone of the specified feature of this polyline contains the direction dir considering the sinus and cosinus of an angular tolerance.

Trait Implementations

impl<N: Clone + RealField> Clone for Polyline<N>

fn clone(&self) -> Polyline<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: RealField> CompositeShape<N> for Polyline<N>

fn nparts(&self) -> usize

The number of sub-shape in this composide shape.

fn map_part_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>)
)

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn map_part_and_preprocessor_at(
    &self,
    i: usize,
    m: &Isometry<N>,
    prediction: &ContactPrediction<N>,
    f: &mut dyn FnMut(&Isometry<N>, &dyn Shape<N>, &dyn ContactPreprocessor<N>)
)

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn aabb_at(&self, i: usize) -> AABB<N>

Gets the AABB of the shape identified by the index i.

fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>

Gets the acceleration structure of the concave shape.

impl<N: RealField> DeformableShape<N> for Polyline<N>

fn deformations_type(&self) -> DeformationsType

The type of degrees of freedom this shape has.

fn set_deformations(&mut self, coords: &[N])

Updates all the degrees of freedom of this shape.

fn update_local_approximation(
    &self,
    coords: &[N],
    approx: &mut LocalShapeApproximation<N>
)

Updates the given local approximation of this shape.

impl<N: RealField> HasBoundingVolume<N, AABB<N>> for Polyline<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N: RealField> HasBoundingVolume<N, BoundingSphere<N>> for Polyline<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N: RealField> PointQuery<N> for Polyline<N>

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

Projects a point on self transformed by m.

fn project_point_with_feature(
    &self,
    m: &Isometry<N>,
    point: &Point<N>
) -> (PointProjection<N>, FeatureId)

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

fn contains_point(&self, m: &Isometry<N>, point: &Point<N>) -> bool

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

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

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

impl<N: RealField> PointQueryWithLocation<N> for Polyline<N>

type Location = (usize, SegmentPointLocation<N>)

Additional shape-specific projection information

fn project_point_with_location(
    &self,
    m: &Isometry<N>,
    point: &Point<N>,
    _: bool
) -> (PointProjection<N>, Self::Location)

Projects a point on self transformed by m.

impl<N: RealField> RayCast<N> for Polyline<N>

fn toi_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    _: bool
) -> Option<N>

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

fn toi_and_normal_with_ray(
    &self,
    m: &Isometry<N>,
    ray: &Ray<N>,
    max_toi: N,
    _: bool
) -> Option<RayIntersection<N>>

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

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

Tests whether a ray intersects this transformed shape.

impl<N: RealField> Shape<N> for Polyline<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn tangent_cone_contains_dir(
    &self,
    _feature: FeatureId,
    _m: &Isometry<N>,
    _deformations: Option<&[N]>,
    _dir: &Unit<Vector<N>>
) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn subshape_containing_feature(&self, id: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

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

The support mapping of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.