Trait parry3d::shape::SupportMap

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pub trait SupportMap {
    // Required method
    fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>;

    // Provided methods
    fn local_support_point_toward(
        &self,
        dir: &Unit<Vector<Real>>
    ) -> Point<Real> { ... }
    fn support_point(
        &self,
        transform: &Isometry<Real>,
        dir: &Vector<Real>
    ) -> Point<Real> { ... }
    fn support_point_toward(
        &self,
        transform: &Isometry<Real>,
        dir: &Unit<Vector<Real>>
    ) -> Point<Real> { ... }
}
Expand description

Traits of convex shapes representable by a support mapping function.

§Parameters:

  • V - type of the support mapping direction argument and of the returned point.

Required Methods§

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fn local_support_point(&self, dir: &Vector<Real>) -> Point<Real>

Provided Methods§

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fn local_support_point_toward(&self, dir: &Unit<Vector<Real>>) -> Point<Real>

Same as self.local_support_point except that dir is normalized.

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fn support_point( &self, transform: &Isometry<Real>, dir: &Vector<Real> ) -> Point<Real>

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fn support_point_toward( &self, transform: &Isometry<Real>, dir: &Unit<Vector<Real>> ) -> Point<Real>

Same as self.support_point except that dir is normalized.

Implementors§