# [−][src]Function ncollide3d::query::algorithms::gjk::closest_points

pub fn closest_points<N, G1: ?Sized, G2: ?Sized>(

m1: &Isometry<N>,

g1: &G1,

m2: &Isometry<N>,

g2: &G2,

max_dist: N,

exact_dist: bool,

simplex: &mut VoronoiSimplex<N>

) -> GJKResult<N> where

N: RealField,

G1: SupportMap<N>,

G2: SupportMap<N>,

Projects the origin on a shape using the Separating Axis GJK algorithm.
The algorithm will stop as soon as the polytope can be proven to be at least `max_dist`

away
from the origin.

# Arguments:

- simplex - the simplex to be used by the GJK algorithm. It must be already initialized with at least one point on the shape boundary.
- exact_dist - if
`false`

, the gjk will stop as soon as it can prove that the origin is at a distance smaller than`max_dist`

but not inside of`shape`

. In that case, it returns a`GJKResult::Proximity(sep_axis)`

where`sep_axis`

is a separating axis. If`false`

the gjk will compute the exact distance and return`GJKResult::Projection(point)`

if the origin is closer than`max_dist`

but not inside`shape`

.