Trait rapier3d::geometry::SupportMap[−][src]

pub trait SupportMap {
    fn local_support_point(
        &self, 
        dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
    ) -> Point<f32, 3_usize>;

    fn local_support_point_toward(
        &self, 
        dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
    ) -> Point<f32, 3_usize> { ... }

    fn support_point(
        &self, 
        transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
        dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
    ) -> Point<f32, 3_usize> { ... }

    fn support_point_toward(
        &self, 
        transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
        dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
    ) -> Point<f32, 3_usize> { ... }
}
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

fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

Provided methods

fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

Same as self.local_support_point except that dir is normalized.

fn support_point(
    &self,
    transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

fn support_point_toward(
    &self,
    transform: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

Same as self.support_point except that dir is normalized.

Implementations on Foreign Types

impl<'a, S> SupportMap for DilatedShape<'a, S> where
    S: SupportMap + ?Sized, [src]

pub fn support_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for ConstantPoint[src]

pub fn support_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point(
    &self,
    &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for ConstantOrigin[src]

pub fn support_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point(
    &self,
    &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

Implementors

impl SupportMap for Ball[src]

pub fn support_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Capsule[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Cone[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for ConvexPolyhedron[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Cuboid[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Cylinder[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Segment[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl SupportMap for Triangle[src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

impl<S> SupportMap for RoundShape<S> where
    S: SupportMap, [src]

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> Point<f32, 3_usize>[src]

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> Point<f32, 3_usize>[src]