[−][src]Struct parry2d::query::gjk::VoronoiSimplex
A simplex of dimension up to 2 using Voronoï regions for computing point projections.
Implementations
impl VoronoiSimplex
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pub fn new() -> VoronoiSimplex
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Crates a new empty simplex.
pub fn swap(&mut self, i1: usize, i2: usize)
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Swap two vertices of this simplex.
pub fn reset(&mut self, pt: CSOPoint)
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Resets this simplex to a single point.
pub fn add_point(&mut self, pt: CSOPoint) -> bool
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Add a point to this simplex.
pub fn proj_coord(&self, i: usize) -> Real
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Retrieves the barycentric coordinate associated to the i
-th by the last call to project_origin_and_reduce
.
pub fn point(&self, i: usize) -> &CSOPoint
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The i-th point of this simplex.
pub fn prev_proj_coord(&self, i: usize) -> Real
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Retrieves the barycentric coordinate associated to the i
-th before the last call to project_origin_and_reduce
.
pub fn prev_point(&self, i: usize) -> &CSOPoint
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The i-th point of the simplex before the last call to projet_origin_and_reduce
.
pub fn project_origin_and_reduce(&mut self) -> Point<Real>
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Projets the origin on the boundary of this simplex and reduces self
the smallest subsimplex containing the origin.
Retruns the result of the projection or Point::origin() if the origin lies inside of the simplex.
The state of the samplex before projection is saved, and can be retrieved using the methods prefixed
by prev_
.
pub fn project_origin(&mut self) -> Point<Real>
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Compute the projection of the origin on the boundary of this simplex.
pub fn contains_point(&self, pt: &Point<Real>) -> bool
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Tests if the given point is already a vertex of this simplex.
pub fn dimension(&self) -> usize
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The dimension of the smallest subspace that can contain this simplex.
pub fn prev_dimension(&self) -> usize
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The dimension of the simplex before the last call to project_origin_and_reduce
.
pub fn max_sq_len(&self) -> Real
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The maximum squared length of the vertices of this simplex.
pub fn modify_pnts(&mut self, f: &dyn Fn(&mut CSOPoint))
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Apply a function to all the vertices of this simplex.
Trait Implementations
impl Clone for VoronoiSimplex
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fn clone(&self) -> VoronoiSimplex
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pub fn clone_from(&mut self, source: &Self)
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impl Debug for VoronoiSimplex
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Auto Trait Implementations
impl RefUnwindSafe for VoronoiSimplex
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impl Send for VoronoiSimplex
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impl Sync for VoronoiSimplex
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impl Unpin for VoronoiSimplex
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impl UnwindSafe for VoronoiSimplex
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,