Trait rhusics_core::Primitive
source · pub trait Primitive {
type Point: EuclideanSpace;
fn support_point<T>(
&self,
direction: &<Self::Point as EuclideanSpace>::Diff,
transform: &T
) -> Self::Point
where
T: Transform<Self::Point>;
}
Expand description
Minkowski support function for primitive
Required Associated Types
sourcetype Point: EuclideanSpace
type Point: EuclideanSpace
Point type
Required Methods
sourcefn support_point<T>(
&self,
direction: &<Self::Point as EuclideanSpace>::Diff,
transform: &T
) -> Self::Pointwhere
T: Transform<Self::Point>,
fn support_point<T>(
&self,
direction: &<Self::Point as EuclideanSpace>::Diff,
transform: &T
) -> Self::Pointwhere
T: Transform<Self::Point>,
Get the support point on the shape in a given direction.
Parameters
direction
: The search direction in world space.transform
: The current local to world transform for this primitive.
Returns
Return the point that is furthest away from the origin, in the given search direction. For discrete shapes, the furthest vertex is enough, there is no need to do exact intersection point computation.
Type parameters
P
: Transform type