Struct ncollide_geometry::shape::MinkowskiSum

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

SupportMap representation of the Minkowski sum of two shapes.

The only way to obtain the sum points is to use its support mapping function.

• 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> MinkowskiSum<'a, M, G1, G2>

fn new(
    m1: &'a M,
    g1: &'a G1,
    m2: &'a M,
    g2: &'a G2
) -> MinkowskiSum<'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 MinkowskiSum<'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<P, Id> for MinkowskiSum<'a, M, G1, G2> where
    P: Point,
    G1: SupportMap<P, M>,
    G2: SupportMap<P, M>, 

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

impl<'a, P, M, M2, G1: ?Sized, G2: ?Sized> RayCast<P, M2> for MinkowskiSum<'a, M, G1, G2> where
    P: Point,
    M2: Isometry<P>,
    G1: SupportMap<P, M>,
    G2: SupportMap<P, M>, 

fn toi_and_normal_with_ray(
    &self,
    m: &M2,
    ray: &Ray<P>,
    solid: bool
) -> Option<RayIntersection<P::Vector>>

Computes the time of impact, and normal between this transformed shape and a ray.

fn toi_with_ray(&self, m: &M, ray: &Ray<P>, solid: bool) -> Option<P::Real>

Computes the time of impact between this transform shape and a ray.

fn toi_and_normal_and_uv_with_ray(
    &self,
    m: &M,
    ray: &Ray<P>,
    solid: bool
) -> Option<RayIntersection<P::Vector>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

fn intersects_ray(&self, m: &M, ray: &Ray<P>) -> bool

Tests whether a ray intersects this transformed shape.