Struct parry3d::query::DefaultQueryDispatcher

pub struct DefaultQueryDispatcher;

A dispatcher that exposes built-in queries

Trait Implementations

impl Clone for DefaultQueryDispatcher

fn clone(&self) -> DefaultQueryDispatcher

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DefaultQueryDispatcher

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<ManifoldData, ContactData> PersistentQueryDispatcher<ManifoldData, ContactData> for DefaultQueryDispatcher

where ManifoldData: Default + Clone, ContactData: Default + Copy,

fn contact_manifolds( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape, prediction: Real, manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>, workspace: &mut Option<ContactManifoldsWorkspace> ) -> Result<(), Unsupported>

Compute all the contacts between two shapes.

fn contact_manifold_convex_convex( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape, normal_constraints1: Option<&dyn NormalConstraints>, normal_constraints2: Option<&dyn NormalConstraints>, prediction: Real, manifold: &mut ContactManifold<ManifoldData, ContactData> ) -> Result<(), Unsupported>

Computes the contact-manifold between two convex shapes.

impl QueryDispatcher for DefaultQueryDispatcher

fn distance( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape ) -> Result<Real, Unsupported>

Computes the minimum distance separating two shapes.

Returns 0.0 if the objects are touching or penetrating.

fn intersection_test( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape ) -> Result<bool, Unsupported>

Tests whether two shapes are intersecting.

fn contact( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape, prediction: Real ) -> Result<Option<Contact>, Unsupported>

Computes one pair of contact points point between two shapes.

fn closest_points( &self, pos12: &Isometry<Real>, shape1: &dyn Shape, shape2: &dyn Shape, max_dist: Real ) -> Result<ClosestPoints, Unsupported>

Computes the pair of closest points between two shapes.

fn cast_shapes( &self, pos12: &Isometry<Real>, local_vel12: &Vector<Real>, shape1: &dyn Shape, shape2: &dyn Shape, options: ShapeCastOptions ) -> Result<Option<ShapeCastHit>, Unsupported>

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

fn cast_shapes_nonlinear( &self, motion1: &NonlinearRigidMotion, shape1: &dyn Shape, motion2: &NonlinearRigidMotion, shape2: &dyn Shape, start_time: Real, end_time: Real, stop_at_penetration: bool ) -> Result<Option<ShapeCastHit>, Unsupported>

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

fn chain<U: QueryDispatcher>(self, other: U) -> QueryDispatcherChain<Self, U>

where Self: Sized,

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