Struct parry3d_f64::query::gjk::VoronoiSimplex

pub struct VoronoiSimplex { /* fields omitted */ }

A simplex of dimension up to 3 that uses Voronoï regions for computing point projections.

Implementations

impl VoronoiSimplex

pub fn new() -> VoronoiSimplex

Creates a new empty simplex.

pub fn swap(&mut self, i1: usize, i2: usize)

Swap two vertices of this simplex.

pub fn reset(&mut self, pt: CSOPoint)

Resets this simplex to a single point.

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

Add a point to this simplex.

pub fn proj_coord(&self, i: usize) -> Real

Retrieves the barycentric coordinate associated to the i-th by the last call to project_origin_and_reduce.

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

The i-th point of this simplex.

pub fn prev_proj_coord(&self, i: usize) -> Real

Retrieves the barycentric coordinate associated to the i-th before the last call to project_origin_and_reduce.

pub fn prev_point(&self, i: usize) -> &CSOPoint

The i-th point of the simplex before the last call to projet_origin_and_reduce.

pub fn project_origin_and_reduce(&mut self) -> Point<Real>

Projets the origin on the boundary of this simplex and reduces self the smallest subsimplex containing the origin.

Retruns the result of the projection or Point::origin() if the origin lies inside of the simplex. The state of the samplex before projection is saved, and can be retrieved using the methods prefixed by prev_.

pub fn project_origin(&mut self) -> Point<Real>

Compute the projection of the origin on the boundary of this simplex.

pub fn contains_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is already a vertex of this simplex.

pub fn dimension(&self) -> usize

The dimension of the smallest subspace that can contain this simplex.

pub fn prev_dimension(&self) -> usize

The dimension of the simplex before the last call to project_origin_and_reduce.

pub fn max_sq_len(&self) -> Real

The maximum squared length of the vertices of this simplex.

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

Apply a function to all the vertices of this simplex.

Trait Implementations

impl Clone for VoronoiSimplex

fn clone(&self) -> VoronoiSimplex

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for VoronoiSimplex

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.