[−][src]Struct parry2d::query::epa::epa2::EPA
The Expanding Polytope Algorithm in 2D.
Implementations
impl EPA
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pub fn new() -> Self
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Creates a new instance of the 2D Expanding Polytope Algorithm.
pub fn project_origin<G: ?Sized>(
&mut self,
m: &Isometry<Real>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<Point<Real>> where
G: SupportMap,
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&mut self,
m: &Isometry<Real>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<Point<Real>> where
G: SupportMap,
Projects the origin on boundary the given shape.
The origin is assumed to be inside of the shape. If it is outside, use the GJK algorithm instead.
Return None
if the origin is not inside of the shape or if
the EPA algorithm failed to compute the projection.
Return the projected point in the local-space of g
.
pub fn closest_points<G1: ?Sized, G2: ?Sized>(
&mut self,
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)> where
G1: SupportMap,
G2: SupportMap,
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&mut self,
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)> where
G1: SupportMap,
G2: SupportMap,
Projects the origin on a shape using the EPA algorithm.
The origin is assumed to be located inside of the shape.
Returns None
if the EPA fails to converge or if g1
and g2
are not penetrating.
Auto Trait Implementations
impl RefUnwindSafe for EPA
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impl Send for EPA
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impl Sync for EPA
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impl Unpin for EPA
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impl UnwindSafe for EPA
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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, 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>,