Struct heron::rapier_plugin::rapier::parry::query::gjk::CSOPoint [−][src]
pub struct CSOPoint { pub point: Point<f32, 3_usize>, pub orig1: Point<f32, 3_usize>, pub orig2: Point<f32, 3_usize>, }
A point of a Configuration-Space Obstacle.
A Configuration-Space Obstacle (CSO) is the result of the Minkowski Difference of two solids. In other words, each of its points correspond to the difference of two point, each belonging to a different solid.
Fields
point: Point<f32, 3_usize>
The point on the CSO. This is equal to self.orig1 - self.orig2
, unless this CSOPoint
has been translated with self.translate.
orig1: Point<f32, 3_usize>
The original point on the first shape used to compute self.point
.
orig2: Point<f32, 3_usize>
The original point on the second shape used to compute self.point
.
Implementations
impl CSOPoint
[src]
pub fn new(orig1: Point<f32, 3_usize>, orig2: Point<f32, 3_usize>) -> CSOPoint
[src]
Initializes a CSO point with orig1 - orig2
.
pub fn new_with_point(
point: Point<f32, 3_usize>,
orig1: Point<f32, 3_usize>,
orig2: Point<f32, 3_usize>
) -> CSOPoint
[src]
point: Point<f32, 3_usize>,
orig1: Point<f32, 3_usize>,
orig2: Point<f32, 3_usize>
) -> CSOPoint
Initializes a CSO point with all information provided.
It is assumed, but not checked, that point == orig1 - orig2
.
pub fn single_point(point: Point<f32, 3_usize>) -> CSOPoint
[src]
Initializes a CSO point where both original points are equal.
pub fn origin() -> CSOPoint
[src]
CSO point where all components are set to zero.
pub fn from_shapes_toward<G1, G2>(
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
g1: &G1,
g2: &G2,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> CSOPoint where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
[src]
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
g1: &G1,
g2: &G2,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> CSOPoint where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Computes the support point of the CSO of g1
and g2
toward the unit direction dir
.
pub fn from_shapes<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>>
) -> CSOPoint where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
[src]
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>>
) -> CSOPoint where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Computes the support point of the CSO of g1
and g2
toward the direction dir
.
pub fn translate(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> CSOPoint
[src]
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> CSOPoint
Translate the CSO point.
pub fn translate_mut(
&mut self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
[src]
&mut self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
Translate in-place the CSO point.
Trait Implementations
impl Clone for CSOPoint
[src]
impl Copy for CSOPoint
[src]
impl Debug for CSOPoint
[src]
impl PartialEq<CSOPoint> for CSOPoint
[src]
impl StructuralPartialEq for CSOPoint
[src]
impl Sub<CSOPoint> for CSOPoint
[src]
Auto Trait Implementations
impl RefUnwindSafe for CSOPoint
impl Send for CSOPoint
impl Sync for CSOPoint
impl Unpin for CSOPoint
impl UnwindSafe for CSOPoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
[src]
T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
[src]
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
[src]
impl<T> CloneAny for T where
T: Any + Clone,
T: Any + Clone,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> Downcast<T> for T
impl<T> DowncastSync for T where
T: Any + Send + Sync,
T: Any + Send + Sync,
impl<T> From<T> for T
[src]
impl<T> Instrument for T
[src]
pub fn instrument(self, span: Span) -> Instrumented<Self>
[src]
pub fn in_current_span(self) -> Instrumented<Self>
[src]
impl<T, U> Into<U> for T where
U: From<T>,
[src]
U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,
[src]
T: Copy + PartialEq<T> + Debug + Any,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
[src]
T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn clone_into(&self, target: &mut T)
[src]
impl<T, U> TryFrom<U> for T where
U: Into<T>,
[src]
U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
[src]
impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
[src]
U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
[src]
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<T> Upcast<T> for T
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,