Struct parry3d::query::epa::epa3::EPA

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pub struct EPA { /* private fields */ }

Expand description

The Expanding Polytope Algorithm in 3D.

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impl EPA

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pub fn new() -> Self

Creates a new instance of the 3D Expanding Polytope Algorithm.

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pub fn project_origin<G: ?Sized + SupportMap>( &mut self, m: &Isometry<Real>, g: &G, simplex: &VoronoiSimplex ) -> Option<Point<Real>>

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.

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pub fn closest_points<G1, G2>( &mut self, pos12: &Isometry<Real>, g1: &G1, g2: &G2, simplex: &VoronoiSimplex ) -> Option<(Point<Real>, Point<Real>, Unit<Vector<Real>>)>
where G1: ?Sized + SupportMap, G2: ?Sized + 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.

Trait Implementations§

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impl Default for EPA

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fn default() -> EPA

Returns the “default value” for a type. Read more

Auto Trait Implementations§

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impl UnwindSafe for EPA

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

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.

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Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.

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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.

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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.

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where T: Any + Send + Sync,

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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