[][src]Struct ncollide2d::query::algorithms::CSOPoint

pub struct CSOPoint<N: RealField> {
    pub point: Point<N>,
    pub orig1: Point<N>,
    pub orig2: Point<N>,
}

A point of a Configuration-Space Obstacle.

A Configuration-Space Obstacle (CSO) is the result of the Minkowski Difference of two solids. In other words, each of its points correspond to the difference of two point, each belonging to a different solid.

Fields

point: Point<N>

The point on the CSO. This is equal to self.orig1 - self.orig2, unless this CSOPoint has been translated with self.translate.

orig1: Point<N>

The original point on the first shape used to compute self.point.

orig2: Point<N>

The original point on the second shape used to compute self.point.

Methods

impl<N: RealField> CSOPoint<N>[src]

pub fn new(orig1: Point<N>, orig2: Point<N>) -> Self[src]

Initializes a CSO point with orig1 - orig2.

pub fn new_with_point(point: Point<N>, orig1: Point<N>, orig2: Point<N>) -> Self[src]

Initializes a CSO point with all information provided.

It is assumed, but not checked, that point == orig1 - orig2.

pub fn single_point(point: Point<N>) -> Self[src]

Initializes a CSO point where both original points are equal.

pub fn origin() -> Self[src]

CSO point where all components are set to zero.

pub fn from_shapes_toward<G1: ?Sized, G2: ?Sized>(
    m1: &Isometry<N>,
    g1: &G1,
    m2: &Isometry<N>,
    g2: &G2,
    dir: &Unit<Vector<N>>
) -> Self where
    G1: SupportMap<N>,
    G2: SupportMap<N>, 
[src]

Computes the support point of the CSO of g1 and g2 toward the unit direction dir.

pub fn from_shapes<G1: ?Sized, G2: ?Sized>(
    m1: &Isometry<N>,
    g1: &G1,
    m2: &Isometry<N>,
    g2: &G2,
    dir: &Vector<N>
) -> Self where
    G1: SupportMap<N>,
    G2: SupportMap<N>, 
[src]

Computes the support point of the CSO of g1 and g2 toward the direction dir.

pub fn translate(&self, dir: &Vector<N>) -> Self[src]

Translate the CSO point.

pub fn translate_mut(&mut self, dir: &Vector<N>)[src]

Translate in-place the CSO point.

Trait Implementations

impl<N: Clone + RealField> Clone for CSOPoint<N>[src]

impl<N: Copy + RealField> Copy for CSOPoint<N>[src]

impl<N: Debug + RealField> Debug for CSOPoint<N>[src]

impl<N: PartialEq + RealField> PartialEq<CSOPoint<N>> for CSOPoint<N>[src]

impl<N: RealField> StructuralPartialEq for CSOPoint<N>[src]

impl<N: RealField> Sub<CSOPoint<N>> for CSOPoint<N>[src]

type Output = Vector<N>

The resulting type after applying the - operator.

Auto Trait Implementations

impl<N> RefUnwindSafe for CSOPoint<N> where
    N: RefUnwindSafe + Scalar

impl<N> Send for CSOPoint<N> where
    N: Scalar

impl<N> Sync for CSOPoint<N> where
    N: Scalar

impl<N> Unpin for CSOPoint<N> where
    N: Scalar + Unpin

impl<N> UnwindSafe for CSOPoint<N> where
    N: Scalar + UnwindSafe

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Downcast for T where
    T: Any

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

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<T> Scalar for T where
    T: PartialEq<T> + Copy + Any + Debug
[src]

impl<T> Slottable for T where
    T: Copy
[src]

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

impl<T> ToOwned for T where
    T: Clone
[src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

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

The type returned in the event of a conversion error.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>,