Struct CollisionWorld

pub struct CollisionWorld<N: RealField + Copy, T> {
    pub objects: CollisionObjectSlab<N, T>,
    pub broad_phase: BroadPhaseObject<N>,
    pub narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>,
    pub toi_dispatcher: Box<dyn TOIDispatcher<N>>,
    pub interactions: InteractionGraph<N, CollisionObjectSlabHandle>,
    pub pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>>>,
}

A world that handles collision objects.

Fields

objects: CollisionObjectSlab<N, T>

The set of objects on this collision world.

broad_phase: BroadPhaseObject<N>

The broad phase used by this collision world.

narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>

The narrow-phase used by this collision world.

toi_dispatcher: Box<dyn TOIDispatcher<N>>

The Time of Impact dispatcher used.

interactions: InteractionGraph<N, CollisionObjectSlabHandle>

The graph of interactions detected so far.

pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>>>

A user-defined broad-phase pair filter.

Implementations

impl<N: RealField + Copy, T> CollisionWorld<N, T>

pub fn new(margin: N) -> CollisionWorld<N, T>

Creates a new collision world.

pub fn add( &mut self, position: Isometry<N>, shape: ShapeHandle<N>, collision_groups: CollisionGroups, query_type: GeometricQueryType<N>, data: T, ) -> (CollisionObjectSlabHandle, &mut CollisionObject<N, T>)

Adds a collision object to the world.

pub fn update(&mut self)

Updates the collision world.

This executes the whole collision detection pipeline:

1. Clears the event pools.
2. Executes the broad phase first.
3. Executes the narrow phase.

pub fn clear_events(&mut self)

Empty the contact and proximity event pools.

pub fn remove(&mut self, handles: &[CollisionObjectSlabHandle])

Removed the specified set of collision objects from the world.

Panics of any handle is invalid, or if the list contains duplicates.

pub fn set_position( &mut self, handle: CollisionObjectSlabHandle, pos: Isometry<N>, )

👎Deprecated: Call directly the method .set_position on the collision object.

Sets the position of the collision object attached to the specified object.

pub fn set_query_type( &mut self, handle: CollisionObjectSlabHandle, query_type: GeometricQueryType<N>, )

👎Deprecated: Call directly the method .set_query_type on the collision object.

Sets the GeometricQueryType of the collision object.

pub fn set_shape( &mut self, handle: CollisionObjectSlabHandle, shape: ShapeHandle<N>, )

👎Deprecated: Call directly the method .set_shape on the collision object.

Sets the shape of the given collision object.

pub fn set_deformations( &mut self, handle: CollisionObjectSlabHandle, coords: &[N], )

👎Deprecated: Call directly the method .set_deformations on the collision object.

Apply the given deformations to the specified object.

pub fn set_broad_phase_pair_filter<F>(&mut self, filter: Option<F>)

where F: BroadPhasePairFilter<N, CollisionObjectSlab<N, T>> + 'static,

Sets the user-defined filter that tells if a potential collision pair should be ignored or not.

The proximity filter returns false for a given pair of collision objects if they should be ignored by the narrow phase. Keep in mind that modifying the proximity filter will have a non-trivial overhead during the next update as it will force re-detection of all collision pairs.

pub fn perform_broad_phase(&mut self)

Executes the broad phase of the collision detection pipeline.

pub fn perform_narrow_phase(&mut self)

Executes the narrow phase of the collision detection pipeline.

pub fn broad_phase_aabb( &self, handle: CollisionObjectSlabHandle, ) -> Option<&AABB<N>>

The broad-phase aabb for the given collision object.

pub fn collision_objects(&self) -> CollisionObjects<'_, N, T>

Iterates through all collision objects.

pub fn collision_object( &self, handle: CollisionObjectSlabHandle, ) -> Option<&CollisionObject<N, T>>

Returns a reference to the collision object identified by its handle.

pub fn get_mut( &mut self, handle: CollisionObjectSlabHandle, ) -> Option<&mut CollisionObject<N, T>>

Returns a mutable reference to the collision object identified by its handle.

pub fn collision_object_pair_mut( &mut self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, ) -> (Option<&mut CollisionObject<N, T>>, Option<&mut CollisionObject<N, T>>)

Returns a mutable reference to a pair collision object identified by their handles.

Panics if both handles are equal.

pub fn set_collision_groups( &mut self, handle: CollisionObjectSlabHandle, groups: CollisionGroups, )

👎Deprecated: Call directly the method .set_collision_groups on the collision object.

Sets the collision groups of the given collision object.

pub fn sweep_test<'a>( &'a self, shape: &'a dyn Shape<N>, isometry: &'a Isometry<N>, direction: &'a Unit<Vector<N>>, maximum_distance: N, groups: &'a CollisionGroups, ) -> impl Iterator<Item = (CollisionObjectSlabHandle, TOI<N>)> + 'a

Returns all objects in the collision world that intersect with the shape transformed by isometry along direction until maximum_distance is reached. The objects are not returned in any particular order. You may use the toi returned for each object to determine the closest object.

pub fn interferences_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups, ) -> InterferencesWithRay<'a, 'b, N, CollisionObjectSlab<N, T>>

Computes the interferences between every rigid bodies on this world and a ray.

pub fn first_interference_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups, ) -> Option<FirstInterferenceWithRay<'a, N, CollisionObjectSlab<N, T>>>

Computes the first interference with ray and

pub fn interferences_with_point<'a, 'b>( &'a self, point: &'b Point<N>, groups: &'b CollisionGroups, ) -> InterferencesWithPoint<'a, 'b, N, CollisionObjectSlab<N, T>>

Computes the interferences between every rigid bodies of a given broad phase, and a point.

pub fn interferences_with_aabb<'a, 'b>( &'a self, aabb: &'b AABB<N>, groups: &'b CollisionGroups, ) -> InterferencesWithAABB<'a, 'b, N, CollisionObjectSlab<N, T>>

Computes the interferences between every rigid bodies of a given broad phase, and a aabb.

pub fn set_narrow_phase( &mut self, narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>, )

Customize the selection of narrowphase collision detection algorithms

pub fn interaction_pairs( &self, effective_only: bool, ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>

All the potential interactions pairs.

Refer to the official user guide for details.

pub fn contact_pairs( &self, effective_only: bool, ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>

All the potential contact pairs.

Refer to the official user guide for details.

pub fn proximity_pairs( &self, effective_only: bool, ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &dyn ProximityDetector<N>, Proximity)>

All the potential proximity pairs.

Refer to the official user guide for details.

pub fn interaction_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>

The potential interaction pair between the two specified collision objects.

Refer to the official user guide for details.

pub fn contact_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>

The potential contact pair between the two specified collision objects.

Refer to the official user guide for details.

pub fn proximity_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &dyn ProximityDetector<N>, Proximity)>

The potential proximity pair between the two specified collision objects.

Refer to the official user guide for details.

pub fn interactions_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>>

All the interaction pairs involving the specified collision object.

Refer to the official user guide for details.

pub fn interactions_with_mut( &mut self, handle: CollisionObjectSlabHandle, ) -> Option<(&mut NarrowPhase<N, CollisionObjectSlabHandle>, impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, TemporaryInteractionIndex, &mut Interaction<N>)>)>

All the mutable interactions pairs involving the specified collision object.

This also returns a mutable reference to the narrow-phase which is necessary for updating the interaction if needed. For interactions between a collision object and itself, only one mutable reference to the collision object is returned.

pub fn proximities_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &dyn ProximityDetector<N>, Proximity)>>

All the proximity pairs involving the specified collision object.

Refer to the official user guide for details.

pub fn contacts_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool, ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>>

All the contact pairs involving the specified collision object.

Refer to the official user guide for details.

pub fn collision_objects_interacting_with<'a>( &'a self, handle: CollisionObjectSlabHandle, ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>

All the collision object handles of collision objects interacting with the specified collision object.

Refer to the official user guide for details.

pub fn collision_objects_in_contact_with<'a>( &'a self, handle: CollisionObjectSlabHandle, ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>

All the collision object handles of collision objects in potential contact with the specified collision object.

Refer to the official user guide for details.

pub fn collision_objects_in_proximity_of<'a>( &'a self, handle: CollisionObjectSlabHandle, ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>

All the collision object handles of collision objects in potential proximity of with the specified collision object.

Refer to the official user guide for details.

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

The contact events pool.

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

The proximity events pool.