First public release of Rapier.v0.1.0

1 files changed, 76 insertions, 0 deletions

diff --git a/src/geometry/polygon.rs b/src/geometry/polygon.rs
new file mode 100644
index 0000000..cdb1012
--- /dev/null
+++ b/src/geometry/polygon.rs
@@ -0,0 +1,76 @@
+use crate::math::{Isometry, Point, Vector};
+use ncollide::bounding_volume::AABB;
+
+#[derive(Clone)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// A convex planar polygon.
+pub struct Polygon {
+    pub(crate) vertices: Vec<Point<f32>>,
+    pub(crate) normals: Vec<Vector<f32>>,
+}
+
+impl Polygon {
+    /// Builds a new polygon from a set of vertices and normals.
+    ///
+    /// The vertices must be ordered in such a way that two consecutive
+    /// vertices determines an edge of the polygon. For example `vertices[0], vertices[1]`
+    /// is an edge, `vertices[1], vertices[2]` is the next edge, etc. The last edge will
+    /// be `vertices[vertices.len() - 1], vertices[0]`.
+    /// The vertices must be given in counter-clockwise order.
+    /// The vertices must form a convex polygon.
+    ///
+    /// One normal must be provided per edge and mut point towards the outside of the polygon.
+    pub fn new(vertices: Vec<Point<f32>>, normals: Vec<Vector<f32>>) -> Self {
+        Self { vertices, normals }
+    }
+
+    /// Compute the axis-aligned bounding box of the polygon.
+    pub fn aabb(&self, pos: &Isometry<f32>) -> AABB<f32> {
+        let p0 = pos * self.vertices[0];
+        let mut mins = p0;
+        let mut maxs = p0;
+
+        for pt in &self.vertices[1..] {
+            let pt = pos * pt;
+            mins = mins.inf(&pt);
+            maxs = maxs.sup(&pt);
+        }
+
+        AABB::new(mins.into(), maxs.into())
+    }
+
+    /// The vertices of this polygon.
+    pub fn vertices(&self) -> &[Point<f32>] {
+        &self.vertices
+    }
+
+    pub(crate) fn support_point(&self, dir: &Vector<f32>) -> usize {
+        let mut best_dot = -f32::MAX;
+        let mut best_i = 0;
+
+        for (i, pt) in self.vertices.iter().enumerate() {
+            let dot = pt.coords.dot(&dir);
+            if dot > best_dot {
+                best_dot = dot;
+                best_i = i;
+            }
+        }
+
+        best_i
+    }
+
+    pub(crate) fn support_face(&self, dir: &Vector<f32>) -> usize {
+        let mut max_dot = -f32::MAX;
+        let mut max_dot_i = 0;
+
+        for (i, normal) in self.normals.iter().enumerate() {
+            let dot = normal.dot(dir);
+            if dot > max_dot {
+                max_dot = dot;
+                max_dot_i = i;
+            }
+        }
+
+        max_dot_i
+    }
+}