[−][src]Struct ncollide2d::query::algorithms::epa2::EPA
The Expanding Polytope Algorithm in 2D.
Methods
impl<N: RealField> EPA<N>[src]
pub fn new() -> Self[src]
Creates a new instance of the 2D Expanding Polytope Algorithm.
pub fn project_origin<G: ?Sized>(
&mut self,
m: &Isometry<N>,
g: &G,
simplex: &VoronoiSimplex<N>
) -> Option<Point<N>> where
G: SupportMap<N>, [src]
&mut self,
m: &Isometry<N>,
g: &G,
simplex: &VoronoiSimplex<N>
) -> Option<Point<N>> where
G: SupportMap<N>,
Projects the origin on boundary 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.
pub fn closest_points<G1: ?Sized, G2: ?Sized>(
&mut self,
m1: &Isometry<N>,
g1: &G1,
m2: &Isometry<N>,
g2: &G2,
simplex: &VoronoiSimplex<N>
) -> Option<(Point<N>, Point<N>, Unit<Vector<N>>)> where
G1: SupportMap<N>,
G2: SupportMap<N>, [src]
&mut self,
m1: &Isometry<N>,
g1: &G1,
m2: &Isometry<N>,
g2: &G2,
simplex: &VoronoiSimplex<N>
) -> Option<(Point<N>, Point<N>, Unit<Vector<N>>)> where
G1: SupportMap<N>,
G2: SupportMap<N>,
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<N> Sync for EPA<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for EPA<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> Send for EPA<N> where
N: Scalar,
N: Scalar,
impl<N> UnwindSafe for EPA<N> where
N: Scalar + UnwindSafe,
N: Scalar + UnwindSafe,
impl<N> RefUnwindSafe for EPA<N> where
N: RefUnwindSafe + Scalar,
N: RefUnwindSafe + Scalar,
Blanket Implementations
impl<T, U> Into<U> for T where
U: From<T>, [src]
U: From<T>,
impl<T> From<T> for 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.
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.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]
impl<T> Borrow<T> for T where
T: ?Sized, [src]
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized, [src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T[src]
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>, [src]
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>[src]
fn is_in_subset(&self) -> bool[src]
unsafe fn to_subset_unchecked(&self) -> SS[src]
fn from_subset(element: &SS) -> SP[src]
impl<T> Downcast for T where
T: Any, [src]
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>[src]
fn as_any(&self) -> &(dyn Any + 'static)[src]
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)[src]
impl<T> Same<T> for T
type Output = T
Should always be Self