Struct ncollide_geometry::shape::AnnotatedMinkowskiSum

pub struct AnnotatedMinkowskiSum<'a, M: 'a, G1: ?Sized + 'a, G2: ?Sized + 'a> { /* fields omitted */ }

Same as the MinkowskiSum but with a support mapping which keeps track of the original supports points from the two wrapped shapes.

• G1: type of the first object involved on the sum.
• G2: type of the second object involved on the sum.

Methods

impl<'a, M, G1: ?Sized, G2: ?Sized> AnnotatedMinkowskiSum<'a, M, G1, G2>

fn new(
    m1: &'a M,
    g1: &'a G1,
    m2: &'a M,
    g2: &'a G2
) -> AnnotatedMinkowskiSum<'a, M, G1, G2>

Builds the Minkowski sum of two shapes. Since the representation is implicit, this is done in constant time.

fn m1(&self) -> &'a M

The transformation matrix of the first shape of this Minkowski Sum.

fn m2(&self) -> &'a M

The transformation matrix of the second shape of this Minkowski Sum.

fn g1(&self) -> &'a G1

The first shape of this Minkowski Sum.

fn g2(&self) -> &'a G2

The second shape of this Minkowski Sum.

Trait Implementations

impl<'a, M: Debug + 'a, G1: Debug + ?Sized + 'a, G2: Debug + ?Sized + 'a> Debug for AnnotatedMinkowskiSum<'a, M, G1, G2>

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<'a, P, M, G1: ?Sized, G2: ?Sized> SupportMap<AnnotatedPoint<P>, Id> for AnnotatedMinkowskiSum<'a, M, G1, G2> where
    P: Point,
    G1: SupportMap<P, M>,
    G2: SupportMap<P, M>, 

fn support_point(&self, _: &Id, dir: &P::Vector) -> AnnotatedPoint<P>

Evaluates the support function of the object. A support function is a function associating a vector to the shape point which maximizes their dot product. This does not include the margin of the object. Margins are shape-dependent. Use support_point to sample the complete shape.