Trait heron::rapier_plugin::rapier::ncollide::query::PointQueryWithLocation

pub trait PointQueryWithLocation<N> where
    N: RealField, {
    type Location;
    pub fn project_point_with_location(
        &self, 
        m: &Isometry<N, U3, Unit<Quaternion<N>>>, 
        pt: &Point<N, U3>, 
        solid: bool
    ) -> (PointProjection<N>, Self::Location);
}

Returns shape-specific info in addition to generic projection information

One requirement for the PointQuery trait is to be usable as a trait object. Unfortunately this precludes us from adding an associated type to it that might allow us to return shape-specific information in addition to the general information provided in PointProjection. This is where PointQueryWithLocation comes in. It forgoes the ability to be used as a trait object in exchange for being able to provide shape-specific projection information.

Any shapes that implement PointQuery but are able to provide extra information, can implement PointQueryWithLocation in addition and have their PointQuery::project_point implementation just call out to PointQueryWithLocation::project_point_with_location.

Associated Types

type Location

Additional shape-specific projection information

In addition to the generic projection information returned in PointProjection, implementations might provide shape-specific projection info. The type of this shape-specific information is defined by this associated type.

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Required methods

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> (PointProjection<N>, Self::Location)

Projects a point on self transformed by m.

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Implementors

impl<N> PointQueryWithLocation<N> for HeightField<N> where
    N: RealField, 

type Location = (usize, TrianglePointLocation<N>)

pub fn project_point_with_location(
    &self,
    _m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    _point: &Point<N, U3>,
    bool
) -> (PointProjection<N>, <HeightField<N> as PointQueryWithLocation<N>>::Location)

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

type Location = (usize, SegmentPointLocation<N>)

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    point: &Point<N, U3>,
    bool
) -> (PointProjection<N>, <Polyline<N> as PointQueryWithLocation<N>>::Location)

impl<N> PointQueryWithLocation<N> for Segment<N> where
    N: RealField, 

type Location = SegmentPointLocation<N>

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    bool
) -> (PointProjection<N>, <Segment<N> as PointQueryWithLocation<N>>::Location)

impl<N> PointQueryWithLocation<N> for Tetrahedron<N> where
    N: RealField, 

type Location = TetrahedronPointLocation<N>

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> (PointProjection<N>, <Tetrahedron<N> as PointQueryWithLocation<N>>::Location)

impl<N> PointQueryWithLocation<N> for TriMesh<N> where
    N: RealField, 

type Location = (usize, TrianglePointLocation<N>)

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    point: &Point<N, U3>,
    bool
) -> (PointProjection<N>, <TriMesh<N> as PointQueryWithLocation<N>>::Location)

impl<N> PointQueryWithLocation<N> for Triangle<N> where
    N: RealField, 

type Location = TrianglePointLocation<N>

pub fn project_point_with_location(
    &self,
    m: &Isometry<N, U3, Unit<Quaternion<N>>>,
    pt: &Point<N, U3>,
    solid: bool
) -> (PointProjection<N>, <Triangle<N> as PointQueryWithLocation<N>>::Location)

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