Function parry3d::query::contact::contact_support_map_support_map_with_params
source · pub fn contact_support_map_support_map_with_params<G1, G2>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
prediction: Real,
simplex: &mut VoronoiSimplex,
init_dir: Option<Unit<Vector<Real>>>
) -> GJKResult
Expand description
Contact between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
This allows a more fine grained control other the underlying GJK algorigtm.
The vector-typed result is the vector that should be passed as init
for
subsequent executions of the algorithm. It is also the contact
normal (that points toward the outside of the first solid).