Function heron::rapier_plugin::rapier::parry::query::details::intersection_test_support_map_support_map_with_params [−][src]
pub fn intersection_test_support_map_support_map_with_params<G1, G2>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
g1: &G1,
g2: &G2,
simplex: &mut VoronoiSimplex,
init_dir: Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>
) -> (bool, Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>) where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Intersection test between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
This allows a more fine grained control other the underlying GJK algorithm.