Struct ncollide2df64::geom::AnnotatedMinkowskiSum
pub struct AnnotatedMinkowskiSum<'a, G1, G2> {
// some fields omitted
}Same as the MinkowskiSum but with a support mapping which keeps track of the original supports points from the two wrapped geometries.
G1: type of the first object involved on the sum.G2: type of the second object involved on the sum.
Methods
impl<'a, G1, G2> AnnotatedMinkowskiSum<'a, G1, G2>
fn new(m1: &'a M, g1: &'a G1, m2: &'a M, g2: &'a G2) -> AnnotatedMinkowskiSum<'a, G1, G2>
Builds the Minkowski sum of two geometries. Since the representation is implicit, this is done in constant time.
fn m1(&self) -> &'a M
The transformation matrix of the first geometry of this Minkowski Sum.
fn m2(&self) -> &'a M
The transformation matrix of the second geometry of this Minkowski Sum.
fn g1(&self) -> &'a G1
The first geometry of this Minkowski Sum.
fn g2(&self) -> &'a G2
The second geometry of this Minkowski Sum.
Trait Implementations
impl<'a, G1: Eq, G2: Eq> Eq for AnnotatedMinkowskiSum<'a, G1, G2>
Automatically derived.
fn eq(&self, __arg_0: &AnnotatedMinkowskiSum<'a, G1, G2>) -> bool
fn ne(&self, __arg_0: &AnnotatedMinkowskiSum<'a, G1, G2>) -> bool
impl<'a, G1: ToStr, G2: ToStr> ToStr for AnnotatedMinkowskiSum<'a, G1, G2>
Automatically derived.
fn to_str(&self) -> ~str
impl<'a, G1: Clone, G2: Clone> Clone for AnnotatedMinkowskiSum<'a, G1, G2>
Automatically derived.
fn clone(&self) -> AnnotatedMinkowskiSum<'a, G1, G2>
impl<'a, G1: HasMargin, G2: HasMargin> HasMargin for AnnotatedMinkowskiSum<'a, G1, G2>
fn margin(&self) -> N
The geometry margin.
impl<'a, G1: Implicit<V, M>, G2: Implicit<V, M>> Implicit<AnnotatedPoint, Identity> for AnnotatedMinkowskiSum<'a, G1, G2>
fn support_point(&self, _: &Identity, dir: &AnnotatedPoint) -> AnnotatedPoint
Evaluates the support function of the object. A support function is a function associating a vector to the geometry point which maximizes their dot product.
Arguments:
dir- the input of the support function. It is not required for it to be normalized.
fn support_point_without_margin(&self, _: &Identity, dir: &AnnotatedPoint) -> AnnotatedPoint
Evaluates the support function of the object. A support function is a
function associating a vector to the geometry point which maximizes their
dot product. This does not include the margin of the object. Margins are
geometry-dependent. Use support_point to sample the complete geometry.
Arguments:
dir- the input of the support function. It is not required for it to be normalized.