Struct NarrowPhase

pub struct NarrowPhase<N: RealField + Copy, Handle: CollisionObjectHandle> { /* private fields */ }

Collision detector dispatcher for collision objects.

Implementations

impl<N: RealField + Copy, Handle: CollisionObjectHandle> NarrowPhase<N, Handle>

pub fn new( contact_dispatcher: Box<dyn ContactDispatcher<N>>, proximity_dispatcher: Box<dyn ProximityDispatcher<N>>, ) -> NarrowPhase<N, Handle>

Creates a new NarrowPhase.

pub fn update_contact( &mut self, co1: &impl CollisionObjectRef<N>, co2: &impl CollisionObjectRef<N>, handle1: Handle, handle2: Handle, detector: &mut dyn ContactManifoldGenerator<N>, manifold: &mut ContactManifold<N>, )

Update the specified contact manifold between two collision objects.

pub fn update_proximity( &mut self, co1: &impl CollisionObjectRef<N>, co2: &impl CollisionObjectRef<N>, handle1: Handle, handle2: Handle, detector: &mut dyn ProximityDetector<N>, curr_proximity: &mut Proximity, )

Update the specified proximity between two collision objects.

pub fn update_interaction( &mut self, co1: &impl CollisionObjectRef<N>, co2: &impl CollisionObjectRef<N>, handle1: Handle, handle2: Handle, interaction: &mut Interaction<N>, )

Update the specified interaction between two collision objects.

pub fn update<Objects>( &mut self, interactions: &mut InteractionGraph<N, Objects::CollisionObjectHandle>, objects: &Objects, )

where Objects: CollisionObjectSet<N, CollisionObjectHandle = Handle>,

Updates the narrow-phase by actually computing contact points and proximities between the interactions pairs reported by the broad-phase.

This will push relevant events to contact_events and proximity_events.

pub fn handle_interaction<Objects>( &mut self, interactions: &mut InteractionGraph<N, Objects::CollisionObjectHandle>, objects: &Objects, handle1: Objects::CollisionObjectHandle, handle2: Objects::CollisionObjectHandle, started: bool, )

where Objects: CollisionObjectSet<N, CollisionObjectHandle = Handle>,

Handles a pair of collision objects detected as either started or stopped interacting.

pub fn contact_events(&self) -> &ContactEvents<Handle>

The set of contact events generated by this narrow-phase.

pub fn proximity_events(&self) -> &ProximityEvents<Handle>

The set of proximity events generated by this narrow-phase.

pub fn clear_events(&mut self)

Clear the events generated by this narrow-phase.