Trait heron::rapier_plugin::rapier3d::parry::shape::SupportMap
source · pub trait SupportMap {
fn local_support_point(
&self,
dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> OPoint<f32, Const<3>>;
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>> { ... }
fn support_point(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> OPoint<f32, Const<3>> { ... }
fn support_point_toward(
&self,
transform: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>> { ... }
}
Expand description
Traits of convex shapes representable by a support mapping function.
Parameters:
- V - type of the support mapping direction argument and of the returned point.
Required Methods
fn local_support_point(
&self,
dir: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> OPoint<f32, Const<3>>
Provided Methods
sourcefn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>>
fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> OPoint<f32, Const<3>>
Same as self.local_support_point
except that dir
is normalized.