Trait TOIDispatcher

pub trait TOIDispatcher<N: RealField + Copy>: Send + Sync {
    // Required methods
    fn nonlinear_time_of_impact(
        &self,
        root_dispatcher: &dyn TOIDispatcher<N>,
        motion1: &dyn RigidMotion<N>,
        g1: &dyn Shape<N>,
        motion2: &dyn RigidMotion<N>,
        g2: &dyn Shape<N>,
        max_toi: N,
        target_distance: N,
    ) -> Result<Option<TOI<N>>, Unsupported>;
    fn time_of_impact(
        &self,
        root_dispatcher: &dyn TOIDispatcher<N>,
        m1: &Isometry<N>,
        vel1: &Vector<N>,
        g1: &dyn Shape<N>,
        m2: &Isometry<N>,
        vel2: &Vector<N>,
        g2: &dyn Shape<N>,
        max_toi: N,
        target_distance: N,
    ) -> Result<Option<TOI<N>>, Unsupported>;

    // Provided method
    fn chain<U: TOIDispatcher<N>>(self, other: U) -> Chain<Self, U>
       where Self: Sized { ... }
}

Dispatcher for time-of-impact queries

Custom implementations allow crates that support an abstract TOIDispatcher to handle custom shapes. Methods take root_dispatcher to allow dispatchers to delegate to eachother. Callers that will not themselves be used to implement a TOIDispatcher should pass self.

Required Methods

fn nonlinear_time_of_impact( &self, root_dispatcher: &dyn TOIDispatcher<N>, motion1: &dyn RigidMotion<N>, g1: &dyn Shape<N>, motion2: &dyn RigidMotion<N>, g2: &dyn Shape<N>, max_toi: N, target_distance: N, ) -> Result<Option<TOI<N>>, Unsupported>

Computes the smallest time of impact of two shapes under translational movement.

fn time_of_impact( &self, root_dispatcher: &dyn TOIDispatcher<N>, m1: &Isometry<N>, vel1: &Vector<N>, g1: &dyn Shape<N>, m2: &Isometry<N>, vel2: &Vector<N>, g2: &dyn Shape<N>, max_toi: N, target_distance: N, ) -> Result<Option<TOI<N>>, Unsupported>

Computes the smallest time at with two shapes under translational movement are separated by a distance smaller or equal to distance.

Returns 0.0 if the objects are touching or penetrating.

Provided Methods

fn chain<U: TOIDispatcher<N>>(self, other: U) -> Chain<Self, U>

where Self: Sized,

Construct a TOIDispatcher that falls back on other for cases not handled by self

Implementors

impl<N, T, U> TOIDispatcher<N> for Chain<T, U>

where N: RealField + Copy, T: TOIDispatcher<N>, U: TOIDispatcher<N>,

impl<N: RealField + Copy> TOIDispatcher<N> for DefaultTOIDispatcher