Module details

Queries dedicated to specific pairs of shapes.

Re-exports

• pub use super::closest_points::*;
• pub use super::contact::*;
• pub use super::point::*;

Structs

• CompositeShapeAgainstAnyDistanceVisitor
  A visitor for computing the distance between a composite shape and a shape.
• ContactManifold
  A contact manifold between two shapes.
• ContactManifoldsWorkspace
  A serializable workspace used by some contact-manifolds computation algorithms.
• IntersectionCompositeShapeShapeVisitor
  A visitor for checking if a composite-shape and a shape intersect.
• NonlinearRigidMotion
  A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
• NonlinearTOICompositeShapeShapeBestFirstVisitor
  A visitor used to determine the non-linear time of impact between a composite shape and another shape.
• Ray
  A Ray.
• RayCompositeShapeToiAndNormalBestFirstVisitor
  A visitor for casting a ray on a composite shape.
• RayCompositeShapeToiBestFirstVisitor
  A visitor for casting a ray on a composite shape.
• RayIntersection
  Structure containing the result of a successful ray cast.
• ShapeCastHit
  The result of a shape casting..
• ShapeCastOptions
  Configuration for controlling the behavior of time-of-impact (i.e. shape-casting) calculations.
• SimdRay
  A structure representing 4 rays in an SIMD SoA fashion.
• TOICompositeShapeShapeBestFirstVisitor
  A visitor used to find the time-of-impact between a composite shape and a shape.
• TrackedContact
  A single contact between two shape.

Enums

• NonlinearShapeCastMode
  Enum specifying the behavior of shape-casting when there is a penetration at the starting time.
• ShapeCastStatus
  The status of the time-of-impact computation algorithm.
• TypedWorkspaceData
  Enum representing workspace data of a specific type.

Traits

• NormalConstraints
  Constraints of contact normals, generally for internal edges resolution.
• NormalConstraintsPair
  A pair of NormalConstraints.
• RayCast
  Traits of objects which can be transformed and tested for intersection with a ray.
• WorkspaceData
  Data from a ContactManifoldsWorkspace.

Functions

• cast_shapes
  Computes the smallest time when two shapes under translational movement are separated by a distance smaller or equal to distance.
• cast_shapes_ball_ball
  Time Of Impact of two balls under translational movement.
• cast_shapes_composite_shape_shape
  Time Of Impact of a composite shape with any other shape, under translational movement.
• cast_shapes_halfspace_support_map
  Time Of Impact of a halfspace with a support-mapped shape under translational movement.
• cast_shapes_heightfield_shape
  Time Of Impact between a moving shape and a heightfield.
• cast_shapes_nonlinear
  Computes the smallest time of impact of two shapes under translational an rotational movements.
• cast_shapes_nonlinear_composite_shape_shape
  Time Of Impact of a composite shape with any other shape, under a rigid motion (translation + rotation).
• cast_shapes_nonlinear_shape_composite_shape
  Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).
• cast_shapes_nonlinear_support_map_support_map
  Compute the time of first impact between two support-map shapes following a nonlinear (with translations and rotations) motion.
• cast_shapes_shape_composite_shape
  Time Of Impact of any shape with a composite shape, under translational movement.
• cast_shapes_shape_heightfield
  Time Of Impact between a moving shape and a heightfield.
• cast_shapes_support_map_halfspace
  Time Of Impact of a halfspace with a support-mapped shape under translational movement.
• cast_shapes_support_map_support_map
  Time of impacts between two support-mapped shapes under translational movement.
• clip_aabb_line
  Computes the segment given by the intersection of a line and an Aabb.
• clip_halfspace_polygon
  Cuts a polygon with the given half-space.
• clip_segment_segment
  Projects two segments on one another and compute their intersection.
• contact_manifold_ball_ball
  Computes the contact manifold between two balls.
• contact_manifold_ball_ball_shapes
  Computes the contact manifold between two balls given as Shape trait-objects.
• contact_manifold_capsule_capsule
  Computes the contact manifold between two capsules.
• contact_manifold_capsule_capsule_shapes
  Computes the contact manifold between two capsules given as Shape trait-objects.
• contact_manifold_convex_ball
  Computes the contact manifold between a convex shape and a ball.
• contact_manifold_convex_ball_shapes
  Computes the contact manifold between a convex shape and a ball, both represented as a Shape trait-object.
• contact_manifold_cuboid_cuboid
  Computes the contact manifold between two cuboids.
• contact_manifold_cuboid_cuboid_shapes
  Computes the contact manifold between two cuboids represented as Shape trait-objects.
• contact_manifold_cuboid_triangle
  Computes the contact manifold between a cuboid and a triangle.
• contact_manifold_cuboid_triangle_shapes
  Computes the contact manifold between a cuboid and a triangle represented as Shape trait-objects.
• contact_manifold_halfspace_pfm
  Computes the contact manifold between a convex shape and a ball.
• contact_manifold_halfspace_pfm_shapes
  Computes the contact manifold between a convex shape and a ball, both represented as a Shape trait-object.
• contact_manifold_pfm_pfm
  Computes the contact manifold between two convex shapes implementing the PolygonalSupportMap trait.
• contact_manifold_pfm_pfm_shapes
  Computes the contact manifold between two convex shapes implementing the PolygonalSupportMap trait, both represented as Shape trait-objects.
• contact_manifolds_composite_shape_composite_shape
  Computes the contact manifolds between two composite shapes.
• contact_manifolds_composite_shape_shape
  Computes the contact manifolds between a composite shape and an abstract shape.
• contact_manifolds_heightfield_composite_shape
  Computes the contact manifold between an heightfield and a composite shape.
• contact_manifolds_heightfield_shape
  Computes the contact manifold between an heightfield and an abstract shape.
• contact_manifolds_heightfield_shape_shapes
  Computes the contact manifold between an heightfield and a shape, both represented as Shape trait-objects.
• contact_manifolds_trimesh_shape
  Computes the contact manifold between a triangle-mesh and a shape.
• contact_manifolds_trimesh_shape_shapes
  Computes the contact manifold between a triangle-mesh an a shape, both represented as Shape trait-objects.
• distance
  Computes the minimum distance separating two shapes.
• distance_ball_ball
  Distance between balls.
• distance_ball_convex_polyhedron
  Distance between a ball and a convex polyhedron.
• distance_composite_shape_shape
  Smallest distance between a composite shape and any other shape.
• distance_convex_polyhedron_ball
  Distance between a convex polyhedron and a ball.
• distance_cuboid_cuboid
  Distance between two cuboids.
• distance_halfspace_support_map
  Distance between a halfspace and a support-mapped shape.
• distance_segment_segment
  Distance between two segments.
• distance_shape_composite_shape
  Smallest distance between a shape and a composite shape.
• distance_support_map_halfspace
  Distance between a support-mapped shape and a halfspace.
• distance_support_map_support_map
  Distance between support-mapped shapes.
• distance_support_map_support_map_with_params
  Distance between support-mapped shapes.
• intersection_test
  Tests whether two shapes are intersecting.
• intersection_test_aabb_segment
  Test if a segment intersects an Aabb.
• intersection_test_aabb_triangle
  Tests if a triangle intersects an Aabb.
• intersection_test_ball_ball
  Intersection test between balls.
• intersection_test_ball_point_query
  Intersection test between a ball and a shape implementing the PointQuery trait.
• intersection_test_composite_shape_shape
  Intersection test between a composite shape (Mesh, Compound) and any other shape.
• intersection_test_cuboid_cuboid
  Intersection test between cuboids.
• intersection_test_cuboid_segment
  Test if a segment intersects a cuboid.
• intersection_test_cuboid_triangle
  Tests if a triangle intersects an cuboid.
• intersection_test_halfspace_support_map
  Intersection test between a halfspace and a support-mapped shape (Cuboid, ConvexHull, etc.)
• intersection_test_point_query_ball
  Intersection test between a shape implementing the PointQuery trait and a ball.
• intersection_test_segment_cuboid
  Test if a segment intersects a cuboid.
• intersection_test_shape_composite_shape
  Proximity between a shape and a composite (Mesh, Compound) shape.
• intersection_test_support_map_halfspace
  Intersection test between a support-mapped shape (Cuboid, ConvexHull, etc.) and a halfspace.
• intersection_test_support_map_support_map
  Intersection test between support-mapped shapes (Cuboid, ConvexHull, etc.)
• intersection_test_support_map_support_map_with_params
  Intersection test between support-mapped shapes (Cuboid, ConvexHull, etc.)
• intersection_test_triangle_cuboid
  Tests if a triangle intersects a cuboid.
• line_toi_with_halfspace
  Computes the time_of_impact of an unbounded line with a halfspace described by its center and normal.
• local_ray_intersection_with_support_map_with_params
  Cast a ray on a shape using the GJK algorithm.
• local_ray_intersection_with_triangle
  Computes the intersection between a triangle and a ray.
• ray_toi_with_ball
  Computes the time of impact of a ray on a ball.
• ray_toi_with_halfspace
  Computes the time_of_impact of a ray with a halfspace described by its center and normal.