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

ContactManifold

A contact manifold between two shapes.

ContactManifoldsWorkspace

A serializable workspace used by some contact-manifolds computation algorithms.

NonlinearRigidMotion

A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.

Ray

A Ray.

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.

TrackedContact

A single contact between two shape.

VoxelsShapeContactManifoldsWorkspace

A workspace for collision-detection against voxels shape.

Enums

NonlinearShapeCastMode

Enum specifying the behavior of shape-casting when there is a penetration at the starting time.

RayCullingMode

Controls which side of a triangle a ray-cast is allowed to hit.

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_shape_voxels

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_nonlinear_voxels_shape

Time Of Impact of a voxels shape with any other shape, under a rigid motion (translation + rotation).

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_shape_voxels

Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).

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.

cast_shapes_voxels_shape

Time Of Impact of a voxels shape with any other shape, under a 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.

contact_manifolds_voxels_ball_shapes

Computes the contact manifold between a convex shape and a ball, both represented as a Shape trait-object.

contact_manifolds_voxels_composite_shape

Computes the contact manifold between voxels and a composite shape.

contact_manifolds_voxels_composite_shape_shapes

Computes the contact manifold between voxels and a composite shape, both represented as a Shape trait-object.

contact_manifolds_voxels_shape

Computes the contact manifold between a convex shape and a voxels shape.

contact_manifolds_voxels_shape_shapes

Computes the contact manifold between a convex shape and a voxels shape, both represented as a Shape trait-object.

contact_manifolds_voxels_voxels

Computes the contact manifold between a convex shape and a ball.

contact_manifolds_voxels_voxels_shapes

Computes the contact manifold between a convex shape and a ball, both represented as a Shape trait-object.

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_shape_voxels

Checks for any intersection between voxels and an arbitrary 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.

intersection_test_voxels_shape

Checks for any intersection between voxels and an arbitrary shape.

intersection_test_voxels_shape_shapes

Checks for any intersection between voxels and an arbitrary shape, both represented as a Shape trait-object.

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.