ncollide3d::pipeline::object

Trait CollisionObjectRef

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pub trait CollisionObjectRef<N: RealField + Copy> {
    // Required methods
    fn graph_index(&self) -> Option<CollisionObjectGraphIndex>;
    fn proxy_handle(&self) -> Option<BroadPhaseProxyHandle>;
    fn position(&self) -> &Isometry<N>;
    fn predicted_position(&self) -> Option<&Isometry<N>>;
    fn shape(&self) -> &dyn Shape<N>;
    fn collision_groups(&self) -> &CollisionGroups;
    fn query_type(&self) -> GeometricQueryType<N>;
    fn update_flags(&self) -> CollisionObjectUpdateFlags;

    // Provided methods
    fn compute_aabb(&self) -> AABB<N> { ... }
    fn compute_swept_aabb(&self) -> AABB<N> { ... }
}
Expand description

Trait implemented by collision objects.

Required Methods§

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fn graph_index(&self) -> Option<CollisionObjectGraphIndex>

The interaction graph index of this collision object, if it has been registered into an interaction graph.

Se the glue::create_proxies for more details.

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fn proxy_handle(&self) -> Option<BroadPhaseProxyHandle>

The broad-phase proxy handle of this collision object, if it has been registered into a broad-phase.

Se the glue::create_proxies for more details.

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fn position(&self) -> &Isometry<N>

The position of this collision object.

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fn predicted_position(&self) -> Option<&Isometry<N>>

The expected position of this collision object in the next updates.

This is used to enlarge the collision object bounding volume such that at yields more potential interaction pairs. This is typically needed for CCD (continuous collision detection) to be sure the broad-phase does not miss pential interactions in-between two discontinuous positions of the collision object.

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fn shape(&self) -> &dyn Shape<N>

The shape of this collision object.

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fn collision_groups(&self) -> &CollisionGroups

The collision groups of this collision object.

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fn query_type(&self) -> GeometricQueryType<N>

The type of geometric queries this collision object is subjected to.

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fn update_flags(&self) -> CollisionObjectUpdateFlags

Flags indicating what changed in this collision object.

Provided Methods§

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fn compute_aabb(&self) -> AABB<N>

Computes the AABB of this collision object, ignoring self.predicted_position().

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fn compute_swept_aabb(&self) -> AABB<N>

Computes the swept AABB of this collision object, taking self.predict_position() into account.

Given the AABB of this collision object at the position self.position()’, and the AABB of this collision object at the position self.predicted_position()`, this returns an AABB that bounds both.

Implementors§