Struct SupportMapSupportMapProximityDetector

pub struct SupportMapSupportMapProximityDetector<N: RealField + Copy> { /* private fields */ }

Persistent proximity detector between two shapes having a support mapping function.

It is based on the GJK algorithm.

Implementations

impl<N: RealField + Copy> SupportMapSupportMapProximityDetector<N>

pub fn new() -> SupportMapSupportMapProximityDetector<N>

Creates a new persistant proximity detector between two shapes with support mapping functions.

It is initialized with a pre-created simplex.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for SupportMapSupportMapProximityDetector<N>

fn clone(&self) -> SupportMapSupportMapProximityDetector<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: RealField + Copy> ProximityDetector<N> for SupportMapSupportMapProximityDetector<N>

fn update( &mut self, _: &dyn ProximityDispatcher<N>, ma: &Isometry<N>, a: &dyn Shape<N>, mb: &Isometry<N>, b: &dyn Shape<N>, margin: N, ) -> Option<Proximity>

Runs the proximity detection on two objects. It is assumed that the same proximity detector (the same instance) is always used with the same pair of object.