[−][src]Function ncollide2d::query::contacts_internal::support_map_against_support_map_with_params
pub fn support_map_against_support_map_with_params<N, G1: ?Sized, G2: ?Sized>(
m1: &Isometry<N>,
g1: &G1,
m2: &Isometry<N>,
g2: &G2,
prediction: N,
simplex: &mut VoronoiSimplex<N>,
init_dir: Option<Unit<Vector<N>>>
) -> GJKResult<N> where
N: Real,
G1: SupportMap<N>,
G2: SupportMap<N>,
Contact between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
This allows a more fine grained control other the underlying GJK algorigtm.
The vector-typed result is the vector that should be passed as init
for
subsequent executions of the algorithm. It is also the contact
normal (that points toward the outside of the first solid).