Struct parry2d_f64::query::epa::epa2::EPA

pub struct EPA { /* private fields */ }

Expand description

The Expanding Polytope Algorithm in 2D.

Implementations§

impl EPA

pub fn new() -> Self

Creates a new instance of the 2D Expanding Polytope Algorithm.

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

Projects the origin on boundary 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.

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: SupportMap + ?Sized, G2: SupportMap + ?Sized,

Projects the origin on a shape using 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§

impl Default for EPA

fn default() -> EPA

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

Auto Trait Implementations§

impl Freeze for EPA

impl RefUnwindSafe for EPA

impl Send for EPA

impl Sync for EPA

impl Unpin for EPA

impl UnwindSafe for EPA

Blanket Implementations§

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

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

Mutably borrows from an owned value. Read more

impl<T> Downcast for T
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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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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.

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Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.

impl<T> DowncastSync for T
where T: Any + Send + Sync,

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impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

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

fn into(self) -> U

Calls U::from(self).

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

impl<T> IntoEither for T

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

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

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T
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type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

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type Error = <U as TryFrom<T>>::Error

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Performs the conversion.