Trait rapier3d::geometry::SupportMap

source · 
pub trait SupportMap {
    // Required method
    fn local_support_point(
        &self,
        dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
    ) -> OPoint<f32, Const<3>>;

    // Provided methods
    fn local_support_point_toward(
        &self,
        dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
    ) -> OPoint<f32, Const<3>> { ... }
    fn support_point(
        &self,
        transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
        dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
    ) -> OPoint<f32, Const<3>> { ... }
    fn support_point_toward(
        &self,
        transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
        dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
    ) -> OPoint<f32, Const<3>> { ... }
}
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§

source

fn local_support_point( &self, dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>> ) -> OPoint<f32, Const<3>>

Provided Methods§

source

fn local_support_point_toward( &self, dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>> ) -> OPoint<f32, Const<3>>

Same as self.local_support_point except that dir is normalized.

source

fn support_point( &self, transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>, dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>> ) -> OPoint<f32, Const<3>>

source

fn support_point_toward( &self, transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>, dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>> ) -> OPoint<f32, Const<3>>

Same as self.support_point except that dir is normalized.

Implementors§