Trait SupportMap 

pub trait SupportMap<N>
where
    N: RealField + Copy,
{
    // Required method
    fn local_support_point(
        &self,
        dir: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>,
    ) -> OPoint<N, Const<2>>;

    // Provided methods
    fn local_support_point_toward(
        &self,
        dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>,
    ) -> OPoint<N, Const<2>> { ... }
    fn support_point(
        &self,
        transform: &Isometry<N, Unit<Complex<N>>, 2>,
        dir: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>,
    ) -> OPoint<N, Const<2>> { ... }
    fn support_point_toward(
        &self,
        transform: &Isometry<N, Unit<Complex<N>>, 2>,
        dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>,
    ) -> OPoint<N, Const<2>> { ... }
}

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<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, ) -> OPoint<N, Const<2>>

Provided Methods

fn local_support_point_toward( &self, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, ) -> OPoint<N, Const<2>>

Same as self.local_support_point except that dir is normalized.

fn support_point( &self, transform: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, ) -> OPoint<N, Const<2>>

fn support_point_toward( &self, transform: &Isometry<N, Unit<Complex<N>>, 2>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, ) -> OPoint<N, Const<2>>

Same as self.support_point except that dir is normalized.

Dyn Compatibility

This trait is dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors

impl<'a, N, S> SupportMap<N> for DilatedShape<'a, N, S>

where N: RealField + Copy, S: SupportMap<N> + ?Sized,

impl<N> SupportMap<N> for Ball<N>

where N: RealField + Copy,

impl<N> SupportMap<N> for Capsule<N>

where N: RealField + Copy,

impl<N> SupportMap<N> for ConstantOrigin

where N: RealField + Copy,

impl<N> SupportMap<N> for ConvexPolygon<N>

where N: RealField + Copy,

impl<N> SupportMap<N> for Cuboid<N>

where N: RealField + Copy,

impl<N> SupportMap<N> for Segment<N>

where N: RealField + Copy,

impl<N> SupportMap<N> for Triangle<N>

where N: RealField + Copy,