Trait parry3d::query::PersistentQueryDispatcher

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

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

Required Methods

fn contact_manifolds( &self, pos12: &Isometry<Real>, g1: &dyn Shape, g2: &dyn Shape, prediction: Real, 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<Real>, g1: &dyn Shape, g2: &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.

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>,