Struct parry3d::query::gjk::VoronoiSimplex

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pub struct VoronoiSimplex { /* private fields */ }
Expand description

A simplex of dimension up to 3 that uses Voronoï regions for computing point projections.

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impl VoronoiSimplex

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pub fn new() -> VoronoiSimplex

Creates a new empty simplex.

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pub fn swap(&mut self, i1: usize, i2: usize)

Swap two vertices of this simplex.

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pub fn reset(&mut self, pt: CSOPoint)

Resets this simplex to a single point.

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pub fn add_point(&mut self, pt: CSOPoint) -> bool

Add a point to this simplex.

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pub fn proj_coord(&self, i: usize) -> Real

Retrieves the barycentric coordinate associated to the i-th by the last call to project_origin_and_reduce.

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pub fn point(&self, i: usize) -> &CSOPoint

The i-th point of this simplex.

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pub fn prev_proj_coord(&self, i: usize) -> Real

Retrieves the barycentric coordinate associated to the i-th before the last call to project_origin_and_reduce.

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pub fn prev_point(&self, i: usize) -> &CSOPoint

The i-th point of the simplex before the last call to projet_origin_and_reduce.

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pub fn project_origin_and_reduce(&mut self) -> Point<Real>

Projets the origin on the boundary of this simplex and reduces self the smallest subsimplex containing the origin.

Retruns the result of the projection or Point::origin() if the origin lies inside of the simplex. The state of the samplex before projection is saved, and can be retrieved using the methods prefixed by prev_.

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pub fn project_origin(&mut self) -> Point<Real>

Compute the projection of the origin on the boundary of this simplex.

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pub fn contains_point(&self, pt: &Point<Real>) -> bool

Tests if the given point is already a vertex of this simplex.

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pub fn dimension(&self) -> usize

The dimension of the smallest subspace that can contain this simplex.

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pub fn prev_dimension(&self) -> usize

The dimension of the simplex before the last call to project_origin_and_reduce.

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pub fn max_sq_len(&self) -> Real

The maximum squared length of the vertices of this simplex.

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pub fn modify_pnts(&mut self, f: &dyn Fn(&mut CSOPoint))

Apply a function to all the vertices of this simplex.

Trait Implementations§

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impl Clone for VoronoiSimplex

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fn clone(&self) -> VoronoiSimplex

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for VoronoiSimplex

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl Default for VoronoiSimplex

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fn default() -> Self

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

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

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where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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fn from(t: T) -> T

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impl<T, U> Into<U> for 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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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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The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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The inclusion map: converts self to the equivalent element of its superset.
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