Struct ncollide3d::query::algorithms::VoronoiSimplex

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pub struct VoronoiSimplex<N: RealField> { /* fields omitted */ }

[−] Expand description

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

Methods

impl<N: RealField> VoronoiSimplex<N>[−]

pub fn new() -> VoronoiSimplex<N>[−]

Creates a new empty simplex.

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

Swap two vertices of this simplex.

pub fn reset(&mut self, pt: CSOPoint<N>)[−]

Resets this simplex to a single point.

pub fn add_point(&mut self, pt: CSOPoint<N>) -> bool[−]

Add a point to this simplex.

pub fn proj_coord(&self, i: usize) -> N[−]

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

pub fn point(&self, i: usize) -> &CSOPoint<N>[−]

The i-th point of this simplex.

pub fn prev_proj_coord(&self, i: usize) -> N[−]

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

pub fn prev_point(&self, i: usize) -> &CSOPoint<N>[−]

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

pub fn project_origin_and_reduce(&mut self) -> Point<N>[−]

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_.

pub fn project_origin(&mut self) -> Point<N>[−]

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

pub fn contains_point(&self, pt: &Point<N>) -> bool[−]

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

pub fn dimension(&self) -> usize[−]

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

pub fn prev_dimension(&self) -> usize[−]

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

pub fn max_sq_len(&self) -> N[−]

The maximum squared length of the vertices of this simplex.

pub fn modify_pnts(&mut self, f: &dyn Fn(&mut CSOPoint<N>))[−]

Apply a function to all the vertices of this simplex.

Trait Implementations

impl<N: Clone + RealField> Clone for VoronoiSimplex<N>[+]

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fn clone(&self) -> VoronoiSimplex<N>[−]

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)[−]

Performs copy-assignment from source.

impl<N: Debug + RealField> Debug for VoronoiSimplex<N>[+]

[+] Show hidden undocumented items

fn fmt(&self, f: &mut Formatter) -> Result[−]

Formats the value using the given formatter.