Function parry3d::query::gjk::directional_distance
source · pub fn directional_distance<G1, G2>(
pos12: &Isometry<Real>,
g1: &G1,
g2: &G2,
dir: &Vector<Real>,
simplex: &mut VoronoiSimplex
) -> Option<(Real, Vector<Real>, Point<Real>, Point<Real>)>
Expand description
Compute the normal and the distance that can travel g1
along the direction
dir
so that g1
and g2
just touch.
The dir
vector must be expressed in the local-space of the first shape.