pub struct EPA { /* private fields */ }
Expand description
The Expanding Polytope Algorithm in 3D.
Implementations
sourceimpl EPA
impl EPA
sourcepub fn project_origin<G>(
&mut self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<OPoint<f32, Const<3>>>where
G: SupportMap + ?Sized,
pub fn project_origin<G>(
&mut self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<OPoint<f32, Const<3>>>where
G: SupportMap + ?Sized,
Projects the origin on boundary of the given shape.
The origin is assumed to be inside of the shape. If it is outside
use the GJK algorithm instead.
Return None
if the origin is not inside of the shape or if
the EPA algorithm failed to compute the projection.
Return the projected point in the local-space of g
.
sourcepub fn closest_points<G1, G2>(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(OPoint<f32, Const<3>>, OPoint<f32, Const<3>>, Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>)>where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
pub fn closest_points<G1, G2>(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(OPoint<f32, Const<3>>, OPoint<f32, Const<3>>, Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>)>where
G1: SupportMap + ?Sized,
G2: SupportMap + ?Sized,
Projects the origin on a shape unsing the EPA algorithm.
The origin is assumed to be located inside of the shape.
Returns None
if the EPA fails to converge or if g1
and g2
are not penetrating.
Auto Trait Implementations
impl RefUnwindSafe for EPA
impl Send for EPA
impl Sync for EPA
impl Unpin for EPA
impl UnwindSafe for EPA
Blanket Implementations
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