# [−][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: RealField> Sub<CSOPoint<N>> for CSOPoint<N>[src]

#### type Output = Vector<N>

The resulting type after applying the - operator.

## Blanket Implementations

### impl<T> Same<T> for T

#### type Output = T

Should always be Self

### 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.