Function heron::rapier_plugin::rapier2d::parry::query::details::closest_points_support_map_support_map_with_params [−][src]
pub fn closest_points_support_map_support_map_with_params<G1, G2>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
g1: &G1,
g2: &G2,
prediction: f32,
simplex: &mut VoronoiSimplex,
init_dir: Option<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> GJKResult where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Expand description
Closest points between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
This allows a more fine grained control other the underlying GJK algorigtm.