Trait PersistentQueryDispatcher

pub trait PersistentQueryDispatcher<ManifoldData = (), ContactData = ()>: QueryDispatcher {
    // Required methods
    fn contact_manifolds(
        &self,
        pos12: &Isometry<f32>,
        g1: &dyn Shape,
        g2: &dyn Shape,
        prediction: f32,
        manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
        workspace: &mut Option<ContactManifoldsWorkspace>,
    ) -> Result<(), Unsupported>;
    fn contact_manifold_convex_convex(
        &self,
        pos12: &Isometry<f32>,
        g1: &dyn Shape,
        g2: &dyn Shape,
        normal_constraints1: Option<&dyn NormalConstraints>,
        normal_constraints2: Option<&dyn NormalConstraints>,
        prediction: f32,
        manifold: &mut ContactManifold<ManifoldData, ContactData>,
    ) -> Result<(), Unsupported>;
}

A query dispatcher for queries relying on spatial coherence, including contact-manifold computation.

This trait extends QueryDispatcher with methods that maintain persistent state between queries to improve performance through spatial and temporal coherence.

What is Spatial Coherence?

Spatial coherence is the principle that objects that are close to each other in one frame are likely to remain close in subsequent frames. Contact manifolds exploit this by:

1. Tracking contact points over multiple frames
2. Reusing previous contact information to accelerate new queries
3. Maintaining contact IDs for physics solvers to track persistent contacts

Contact Manifolds vs Single Contacts

• Single Contact (QueryDispatcher::contact): Returns one contact point, suitable for one-off queries or simple collision detection.

• Contact Manifold (PersistentQueryDispatcher::contact_manifolds): Returns multiple contact points that persist across frames, essential for stable physics simulation.

When to Use This Trait

Use PersistentQueryDispatcher when:

• Implementing physics simulation that needs stable contact tracking
• Building a custom physics engine on top of Parry
• Optimizing repeated collision queries between the same shape pairs

Generic Parameters

• ManifoldData: Custom data attached to each contact manifold (default: ())
• ContactData: Custom data attached to each contact point (default: ())

These allow physics engines to attach solver-specific data to contacts without modifying Parry’s core types.

Required Methods

fn contact_manifolds( &self, pos12: &Isometry<f32>, g1: &dyn Shape, g2: &dyn Shape, prediction: f32, manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>, workspace: &mut Option<ContactManifoldsWorkspace>, ) -> Result<(), Unsupported>

Compute all the contacts between two shapes.

The output is written into manifolds and context. Both can persist between multiple calls to contacts by re-using the result of the previous call to contacts. This persistence can significantly improve collision detection performances by allowing the underlying algorithms to exploit spatial and temporal coherence.

fn contact_manifold_convex_convex( &self, pos12: &Isometry<f32>, g1: &dyn Shape, g2: &dyn Shape, normal_constraints1: Option<&dyn NormalConstraints>, normal_constraints2: Option<&dyn NormalConstraints>, prediction: f32, manifold: &mut ContactManifold<ManifoldData, ContactData>, ) -> Result<(), Unsupported>

Computes the contact-manifold between two convex shapes.

Implementors

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

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

impl<ManifoldData, ContactData, T, U> PersistentQueryDispatcher<ManifoldData, ContactData> for QueryDispatcherChain<T, U>

where T: PersistentQueryDispatcher<ManifoldData, ContactData>, U: PersistentQueryDispatcher<ManifoldData, ContactData>,