Function heron::rapier_plugin::rapier::parry::query::gjk::directional_distance [−][src]
pub fn directional_distance<G1, G2>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
g1: &G1,
g2: &G2,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
simplex: &mut VoronoiSimplex
) -> Option<(f32, Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, Point<f32, 3_usize>, Point<f32, 3_usize>)> where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Compute the normal and the distance that can travel g1
along the direction
dir
so that g1
and g2
just touch.
The dir
vector must be expressed in the local-space of the first shape.