Expand description
Queries dedicated to specific pairs of shapes.
Re-exports§
pub use super::closest_points::*;
pub use super::contact::*;
pub use super::point::*;
Structs§
- A visitor for computing the distance between a composite shape and a shape.
- A contact manifold between two shapes.
- A serializable workspace used by some contact-manifolds computation algorithms.
- A visitor for checking if a composite-shape and a shape intersect.
- A visitor for checking if a composite-shape and a shape intersect.
- A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
- A visitor used to determine the non-linear time of impact between a composite shape and another shape.
- A Ray.
- A visitor for casting a ray on a composite shape.
- A visitor for casting a ray on a composite shape.
- Structure containing the result of a successful ray cast.
- The result of a shape casting..
- Configuration for controlling the behavior of time-of-impact (i.e. shape-casting) calculations.
- A structure representing 4 rays in an SIMD SoA fashion.
- A visitor used to find the time-of-impact between a composite shape and a shape.
- A single contact between two shape.
Enums§
- Enum specifying the behavior of shape-casting when there is a penetration at the starting time.
- The status of the time-of-impact computation algorithm.
- Enum representing workspace data of a specific type.
Traits§
- Constraints of contact normals, generally for internal edges resolution.
- A pair of
NormalConstraints
. - Traits of objects which can be transformed and tested for intersection with a ray.
- Data from a
ContactManifoldsWorkspace
.
Functions§
- Computes the smallest time when two shapes under translational movement are separated by a distance smaller or equal to
distance
. - Time Of Impact of two balls under translational movement.
- Time Of Impact of a composite shape with any other shape, under translational movement.
- Time Of Impact of a halfspace with a support-mapped shape under translational movement.
- Time Of Impact between a moving shape and a heightfield.
- Computes the smallest time of impact of two shapes under translational an rotational movements.
- Time Of Impact of a composite shape with any other shape, under a rigid motion (translation + rotation).
- Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).
- Compute the time of first impact between two support-map shapes following a nonlinear (with translations and rotations) motion.
- Time Of Impact of any shape with a composite shape, under translational movement.
- Time Of Impact between a moving shape and a heightfield.
- Time Of Impact of a halfspace with a support-mapped shape under translational movement.
- Time of impacts between two support-mapped shapes under translational movement.
- Computes the segment given by the intersection of a line and an Aabb.
- Cuts a polygon with the given half-space.
- Projects two segments on one another and compute their intersection.
- Computes the contact manifold between two balls.
- Computes the contact manifold between two balls given as
Shape
trait-objects. - Computes the contact manifold between two capsules.
- Computes the contact manifold between two capsules given as
Shape
trait-objects. - Computes the contact manifold between a convex shape and a ball.
- Computes the contact manifold between a convex shape and a ball, both represented as a
Shape
trait-object. - Computes the contact manifold between two cuboids.
- Computes the contact manifold between two cuboids represented as
Shape
trait-objects. - Computes the contact manifold between a cuboid and a triangle.
- Computes the contact manifold between a cuboid and a triangle represented as
Shape
trait-objects. - Computes the contact manifold between a convex shape and a ball.
- Computes the contact manifold between a convex shape and a ball, both represented as a
Shape
trait-object. - Computes the contact manifold between two convex shapes implementing the
PolygonalSupportMap
trait. - Computes the contact manifold between two convex shapes implementing the
PolygonalSupportMap
trait, both represented asShape
trait-objects. - Computes the contact manifolds between two composite shapes.
- Computes the contact manifolds between a composite shape and an abstract shape.
- Computes the contact manifold between an heightfield and a composite shape.
- Computes the contact manifold between an heightfield and an abstract shape.
- Computes the contact manifold between an heightfield and a shape, both represented as
Shape
trait-objects. - Computes the contact manifold between a triangle-mesh and a shape.
- Computes the contact manifold between a triangle-mesh an a shape, both represented as
Shape
trait-objects. - Computes the minimum distance separating two shapes.
- Distance between balls.
- Distance between a ball and a convex polyhedron.
- Smallest distance between a composite shape and any other shape.
- Distance between a convex polyhedron and a ball.
- Distance between two cuboids.
- Distance between a halfspace and a support-mapped shape.
- Distance between two segments.
- Smallest distance between a shape and a composite shape.
- Distance between a support-mapped shape and a halfspace.
- Distance between support-mapped shapes.
- Distance between support-mapped shapes.
- Tests whether two shapes are intersecting.
- Test if a segment intersects an Aabb.
- Tests if a triangle intersects an Aabb.
- Intersection test between balls.
- Intersection test between a ball and a shape implementing the
PointQuery
trait. - Intersection test between a composite shape (
Mesh
,Compound
) and any other shape. - Intersection test between cuboids.
- Test if a segment intersects a cuboid.
- Tests if a triangle intersects an cuboid.
- Intersection test between a halfspace and a support-mapped shape (Cuboid, ConvexHull, etc.)
- Intersection test between a shape implementing the
PointQuery
trait and a ball. - Test if a segment intersects a cuboid.
- Proximity between a shape and a composite (
Mesh
,Compound
) shape. - Intersection test between a support-mapped shape (Cuboid, ConvexHull, etc.) and a halfspace.
- Intersection test between support-mapped shapes (
Cuboid
,ConvexHull
, etc.) - Intersection test between support-mapped shapes (
Cuboid
,ConvexHull
, etc.) - Tests if a triangle intersects a cuboid.
- Computes the time_of_impact of an unbounded line with a halfspace described by its center and normal.
- Cast a ray on a shape using the GJK algorithm.
- Computes the intersection between a triangle and a ray.
- Computes the time of impact of a ray on a ball.
- Computes the time_of_impact of a ray with a halfspace described by its center and normal.