Struct DilatedShape

pub struct DilatedShape<'a, N: RealField + Copy, S: ?Sized + SupportMap<N>> {
    pub shape: &'a S,
    pub radius: N,
}

The Minkowski sum of a shape and a ball.

Fields

shape: &'a S

The shape involved in the Minkowski sum.

radius: N

The radius of the ball involved in the Minkoski sum.

Trait Implementations

impl<'a, N: RealField + Copy, S: ?Sized + SupportMap<N>> SupportMap<N> for DilatedShape<'a, N, S>

fn support_point(&self, m: &Isometry<N>, dir: &Vector<N>) -> Point<N>

fn support_point_toward( &self, m: &Isometry<N>, dir: &Unit<Vector<N>>, ) -> Point<N>

Same as self.support_point except that dir is normalized.

fn local_support_point(&self, dir: &Vector<N>) -> Point<N>

fn local_support_point_toward(&self, dir: &Unit<Vector<N>>) -> Point<N>

Same as self.local_support_point except that dir is normalized.