Struct ncollide_geometry::query::algorithms::JohnsonSimplex

pub struct JohnsonSimplex<P: Point> { /* fields omitted */ }

Simplex using the Johnson subalgorithm to compute the projection of the origin on the simplex.

Methods

impl<P: Point> JohnsonSimplex<P>

pub fn new(recursion: Arc<Vec<JohnsonSimplexTemplate>>) -> JohnsonSimplex<P>

Creates a new, empty, Johnson simplex.

pub fn new_w_tls() -> JohnsonSimplex<P>

Creates a new, empty Johnson simplex. The recursion template uses the thread-local one.

Trait Implementations

impl<P: Point> Simplex<P> for JohnsonSimplex<P>

fn reset(&mut self, pt: P)

Replace the point of the simplex by a single one. The simplex is reduced to be 0-dimensional.

fn dimension(&self) -> usize

Dimension of the simplex. A simplex with n must be a n - 1-dimensional simplex.

fn max_sq_len(&self) -> P::Real

The maximum among the simplex point squared lengths.

fn contains_point(&self, pt: &P) -> bool

Checks whether a given point is already part of the simplex points.

fn add_point(&mut self, pt: P) -> bool

Adds a point to the simplex.

fn point(&self, i: usize) -> P

Gets the i-th point of this simplex.

fn project_origin_and_reduce(&mut self) -> P

Project the origin on the simplex and remove any sub-simplex which does not contain the projection.

fn project_origin(&mut self) -> P

Projection the origin on the simplex. The simplex itself is unchanged, although it is mutable for optimization purpose.

fn modify_pnts(&mut self, f: &dyn Fn(&mut P))

Modifies the points contained by this simplex.

impl<P: Clone + Point> Clone for JohnsonSimplex<P> where
    P::Real: Clone, 

fn clone(&self) -> JohnsonSimplex<P>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.