Function heron::rapier_plugin::rapier::ncollide::query::proximity_support_map_support_map_with_params [−][src]
pub fn proximity_support_map_support_map_with_params<N, G1, G2>(
m1: &Isometry<N, U3, Unit<Quaternion<N>>>,
g1: &G1,
m2: &Isometry<N, U3, Unit<Quaternion<N>>>,
g2: &G2,
margin: N,
simplex: &mut VoronoiSimplex<N>,
init_dir: Option<Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>>
) -> (Proximity, Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>) where
N: RealField,
G1: SupportMap<N> + ?Sized,
G2: SupportMap<N> + ?Sized,
Proximity between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
This allows a more fine grained control other the underlying GJK algorigtm.