Function heron::rapier_plugin::rapier::parry::query::gjk::closest_points[−][src]

pub fn closest_points<G1, G2>(
    pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
    g1: &G1, 
    g2: &G2, 
    max_dist: f32, 
    exact_dist: bool, 
    simplex: &mut VoronoiSimplex
) -> GJKResult where
    G1: SupportMap + ?Sized,
    G2: SupportMap + ?Sized, 

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 than max_dist but not inside of shape. In that case, it returns a GJKResult::Proximity(sep_axis) where sep_axis is a separating axis. If false the gjk will compute the exact distance and return GJKResult::Projection(point) if the origin is closer than max_dist but not inside shape.