pub struct EPA { /* private fields */ }
Expand description
The Expanding Polytope Algorithm in 3D.
Implementations
sourceimpl EPA
impl EPA
sourcepub fn project_origin<G: ?Sized>(
&mut self,
m: &Isometry<Real>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<Point<Real>> where
G: SupportMap,
pub fn project_origin<G: ?Sized>(
&mut self,
m: &Isometry<Real>,
g: &G,
simplex: &VoronoiSimplex
) -> Option<Point<Real>> where
G: SupportMap,
Projects the origin on boundary of the given shape.
The origin is assumed to be inside of the shape. If it is outside
use the GJK algorithm instead.
Return None
if the origin is not inside of the shape or if
the EPA algorithm failed to compute the projection.
Return the projected point in the local-space of g
.
sourcepub fn closest_points<G1: ?Sized, G2: ?Sized>(
&mut self,
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)> where
G1: SupportMap,
G2: SupportMap,
pub fn closest_points<G1: ?Sized, G2: ?Sized>(
&mut self,
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
simplex: &VoronoiSimplex
) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)> where
G1: SupportMap,
G2: SupportMap,
Projects the origin on a shape unsing the EPA algorithm.
The origin is assumed to be located inside of the shape.
Returns None
if the EPA fails to converge or if g1
and g2
are not penetrating.
Auto Trait Implementations
impl RefUnwindSafe for EPA
impl Send for EPA
impl Sync for EPA
impl Unpin for EPA
impl UnwindSafe for EPA
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.