Struct parry2d::query::gjk::VoronoiSimplex [−][src]
pub struct VoronoiSimplex { /* fields omitted */ }
A simplex of dimension up to 2 using Voronoï regions for computing point projections.
Implementations
impl VoronoiSimplex
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impl VoronoiSimplex
[src]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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impl Clone for VoronoiSimplex
[src]fn clone(&self) -> VoronoiSimplex
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
Auto Trait Implementations
impl RefUnwindSafe for VoronoiSimplex
impl RefUnwindSafe for VoronoiSimplex
impl Send for VoronoiSimplex
impl Send for VoronoiSimplex
impl Sync for VoronoiSimplex
impl Sync for VoronoiSimplex
impl Unpin for VoronoiSimplex
impl Unpin for VoronoiSimplex
impl UnwindSafe for VoronoiSimplex
impl UnwindSafe for VoronoiSimplex
Blanket Implementations
impl<T> CheckedAs for T
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impl<T> CheckedAs for T
[src]pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
[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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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
[src]pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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impl<T> OverflowingAs for T
[src]pub fn overflowing_as<Dst>(self) -> (Dst, bool) where
T: OverflowingCast<Dst>,
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T: OverflowingCast<Dst>,
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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impl<T> SaturatingAs for T
[src]pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]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> UnwrappedAs for T
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impl<T> UnwrappedAs for T
[src]pub fn unwrapped_as<Dst>(self) -> Dst where
T: UnwrappedCast<Dst>,
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T: UnwrappedCast<Dst>,
impl<T> WrappingAs for T
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impl<T> WrappingAs for T
[src]pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,