Struct ConvexShape

pub struct ConvexShape { /* private fields */ }

A convex shape as its vertices and face normals.

Storing normals alongside points is what keeps SAT honest: the candidate axes for two polyhedra are their face normals plus the cross products of their edge pairs. Deriving normals from a point cloud every call would repeat work the caller usually already has.

A shape with no normals still works – a point cloud’s hull is implied by the edge-pair axes – but supplying them makes the test exact for polyhedra rather than conservative.

Implementations

impl ConvexShape

pub fn from_points(points: &[Point3]) -> Self

A shape from its vertices alone.

Face normals are not inferred: computing a hull here would make a cheap constructor expensive and would silently discard the caller’s own topology. Use ConvexShape::with_faces when face normals are available.

pub fn with_faces(points: &[Point3], normals: &[Vec3]) -> Self

A shape with known face normals and edge directions.

pub fn from_aabb(min: Point3, max: Point3) -> Self

An axis-aligned box as a convex shape.

pub fn points(&self) -> &[Point3]

The shape’s vertices.

pub fn is_empty(&self) -> bool

Whether the shape has no vertices.

Trait Implementations

impl Clone for ConvexShape

fn clone(&self) -> ConvexShape

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ConvexShape

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

Formats the value using the given formatter.

impl PartialEq for ConvexShape

fn eq(&self, other: &ConvexShape) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ConvexShape