Struct parry3d::query::gjk::VoronoiSimplex [−][src]
pub struct VoronoiSimplex { /* fields omitted */ }
Expand description
A simplex of dimension up to 3 that uses Voronoï regions for computing point projections.
Implementations
impl VoronoiSimplex
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impl VoronoiSimplex
[src]pub fn new() -> VoronoiSimplex
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pub fn new() -> VoronoiSimplex
[src]Creates a new empty simplex.
pub fn proj_coord(&self, i: usize) -> Real
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pub fn proj_coord(&self, i: usize) -> Real
[src]Retrieves the barycentric coordinate associated to the i
-th by the last call to project_origin_and_reduce
.
pub fn prev_proj_coord(&self, i: usize) -> Real
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pub fn prev_proj_coord(&self, i: usize) -> Real
[src]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
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pub fn prev_point(&self, i: usize) -> &CSOPoint
[src]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>
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pub fn project_origin_and_reduce(&mut self) -> Point<Real>
[src]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>
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pub fn project_origin(&mut self) -> Point<Real>
[src]Compute the projection of the origin on the boundary of this simplex.
pub fn contains_point(&self, pt: &Point<Real>) -> bool
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pub fn contains_point(&self, pt: &Point<Real>) -> bool
[src]Tests if the given point is already a vertex of this simplex.
pub fn dimension(&self) -> usize
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pub fn dimension(&self) -> usize
[src]The dimension of the smallest subspace that can contain this simplex.
pub fn prev_dimension(&self) -> usize
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pub fn prev_dimension(&self) -> usize
[src]The dimension of the simplex before the last call to project_origin_and_reduce
.
pub fn max_sq_len(&self) -> Real
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pub fn max_sq_len(&self) -> Real
[src]The maximum squared length of the vertices of this simplex.
pub fn modify_pnts(&mut self, f: &dyn Fn(&mut CSOPoint))
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pub fn modify_pnts(&mut self, f: &dyn Fn(&mut CSOPoint))
[src]Apply a function to all the vertices of this simplex.
Trait Implementations
impl Clone for VoronoiSimplex
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impl Clone for VoronoiSimplex
[src]fn clone(&self) -> VoronoiSimplex
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fn clone(&self) -> VoronoiSimplex
[src]Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0[src]
fn clone_from(&mut self, source: &Self)
1.0.0[src]Performs copy-assignment from source
. Read more
Auto Trait Implementations
impl RefUnwindSafe for VoronoiSimplex
impl Send for VoronoiSimplex
impl Sync for VoronoiSimplex
impl Unpin for VoronoiSimplex
impl UnwindSafe for VoronoiSimplex
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
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pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
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impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
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pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more