Trait rapier3d::geometry::SupportMap

pub trait SupportMap {
    pub fn local_support_point(
        &self, 
        dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
    ) -> Point<f32, U3>;

    pub fn local_support_point_toward(
        &self, 
        dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
    ) -> Point<f32, U3> { ... }
    pub fn support_point(
        &self, 
        transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>, 
        dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
    ) -> Point<f32, U3> { ... }
    pub fn support_point_toward(
        &self, 
        transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>, 
        dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
    ) -> Point<f32, U3> { ... }
}

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

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

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Provided methods

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.local_support_point except that dir is normalized.

pub fn support_point(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    transform: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

Same as self.support_point except that dir is normalized.

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Implementations on Foreign Types

impl<'a, S> SupportMap for DilatedShape<'a, S> where
    S: SupportMap + ?Sized, 

pub fn support_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

impl SupportMap for ConstantPoint

pub fn support_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

pub fn local_support_point(
    &self,
    &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

impl SupportMap for ConstantOrigin

pub fn support_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

pub fn local_support_point(
    &self,
    &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

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Implementors

impl SupportMap for Ball

pub fn support_point(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn support_point_toward(
    &self,
    m: &Isometry<f32, U3, Unit<Quaternion<f32>>>,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

impl SupportMap for Capsule

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

impl SupportMap for Cone

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl SupportMap for ConvexPolyhedron

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl SupportMap for Cuboid

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl SupportMap for Cylinder

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl SupportMap for Segment

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl SupportMap for Triangle

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

impl<S> SupportMap for RoundShape<S> where
    S: SupportMap, 

pub fn local_support_point(
    &self,
    dir: &Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>
) -> Point<f32, U3>

pub fn local_support_point_toward(
    &self,
    dir: &Unit<Matrix<f32, U3, U1, <DefaultAllocator as Allocator<f32, U3, U1>>::Buffer>>
) -> Point<f32, U3>

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