Function heron::rapier_plugin::rapier2d::parry::query::gjk::closest_points [−][src]
pub fn closest_points<G1, G2>(
pos12: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
g1: &G1,
g2: &G2,
max_dist: f32,
exact_dist: bool,
simplex: &mut VoronoiSimplex
) -> GJKResult where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Expand description
Projects the origin on a shape using the Separating Axis GJK algorithm.
The algorithm will stop as soon as the polytope can be proven to be at least max_dist
away
from the origin.
Arguments:
- simplex - the simplex to be used by the GJK algorithm. It must be already initialized with at least one point on the shape boundary.
- exact_dist - if
false
, the gjk will stop as soon as it can prove that the origin is at a distance smaller thanmax_dist
but not inside ofshape
. In that case, it returns aGJKResult::Proximity(sep_axis)
wheresep_axis
is a separating axis. Iffalse
the gjk will compute the exact distance and returnGJKResult::Projection(point)
if the origin is closer thanmax_dist
but not insideshape
.