From d300dd8142d48cc21877aee99c4849618c793fd8 Mon Sep 17 00:00:00 2001
From: Hanno Braun <hanno@braun-odw.eu>
Date: Thu, 10 Feb 2022 19:46:10 +0100
Subject: [PATCH] Fix edge vertices not being transformed with edge

---
 src/kernel/topology/edges.rs    |  4 ++++
 src/kernel/topology/vertices.rs | 12 ++++++++++++
 2 files changed, 16 insertions(+)

diff --git a/src/kernel/topology/edges.rs b/src/kernel/topology/edges.rs
index 1e99a7e0a..8238e9c02 100644
--- a/src/kernel/topology/edges.rs
+++ b/src/kernel/topology/edges.rs
@@ -155,6 +155,10 @@ impl Edge {
     #[must_use]
     pub fn transform(mut self, transform: &Isometry<f64>) -> Self {
         self.curve = self.curve.transform(transform);
+        self.vertices = self
+            .vertices
+            .map(|vertices| vertices.map(|vertex| vertex.transform(transform)));
+
         self
     }
 }
diff --git a/src/kernel/topology/vertices.rs b/src/kernel/topology/vertices.rs
index c966f0401..d9f648ffe 100644
--- a/src/kernel/topology/vertices.rs
+++ b/src/kernel/topology/vertices.rs
@@ -1,3 +1,5 @@
+use parry3d_f64::math::Isometry;
+
 use crate::{kernel::geometry::Curve, math::Point};
 
 /// The vertices of a shape
@@ -71,4 +73,14 @@ impl<const D: usize> Vertex<D> {
     pub fn location(&self) -> &Point<D> {
         &self.location
     }
+
+    /// Create a transformed vertex
+    ///
+    /// The transformed vertex has its canonical form transformed by the
+    /// transformation provided, but is otherwise identical.
+    #[must_use]
+    pub fn transform(mut self, transform: &Isometry<f64>) -> Self {
+        self.canonical = transform.transform_point(&self.canonical);
+        self
+    }
 }