Module bevy_xpbd_3d::plugins::collision

Collision detection is used to detect and compute intersections between Colliders.

In bevy_xpbd, collision detection is split into three plugins:

• BroadPhasePlugin: Collects pairs of potentially colliding entities into BroadCollisionPairs.
• NarrowPhasePlugin: Computes contacts for broad phase collision pairs and adds them to Collisions.
• ContactReportingPlugin (optional): Sends collision events and updates CollidingEntities based on Collisions.

Spatial queries are handled by the SpatialQueryPlugin.

You can also find several utility methods for computing contacts in contact_query.

Modules

• broad_phase
  Collects pairs of potentially colliding entities into BroadCollisionPairs using AABB intersection checks.
• collider_backend
  Handles generic collider backend logic, like initializing colliders and AABBs and updating related components.
• contact_query
  Contact queries compute information about contacts between two Colliders.
• contact_reporting
  Sends collision events and updates CollidingEntities.
• narrow_phase
  Computes contacts between entities.

Structs

• AsyncCollider
  A component that will automatically generate a Collider based on the entity’s Mesh. The type of the generated collider can be specified using ComputedCollider.
• AsyncSceneCollider
  A component that will automatically generate colliders for the meshes in a scene once the scene has been loaded. The type of the generated collider can be specified using ComputedCollider.
• AsyncSceneColliderData
  Configuration for a specific collider generated from a scene using AsyncSceneCollider.
• Collider
  A collider used for detecting collisions and generating contacts.
• ColliderAabb
  The Axis-Aligned Bounding Box of a collider.
• ColliderParent
  A component that stores the Entity ID of the RigidBody that a Collider is attached to.
• ColliderTransform
  The transform of a collider relative to the rigid body it’s attached to. This is in the local space of the body, not the collider itself.
• CollidingEntities
  A component that stores the entities that are colliding with an entity.
• Collisions
  A resource that stores all collision pairs.
• ContactData
  Data related to a contact between two bodies.
• ContactManifold
  A contact manifold between two colliders, containing a set of contact points. Each contact in a manifold shares the same contact normal.
• Contacts
  All contacts between two colliders.
• Sensor
  A component that marks a Collider as a sensor, also known as a trigger.
• SingleContact
  Data related to a single contact between two bodies.

Enums

• ComputedCollider
  Determines how a Collider is generated from a Mesh.

Traits

• AnyCollider
  A trait that generalizes over colliders. Implementing this trait allows colliders to be used with the physics engine.
• IntoCollider
  A trait for creating colliders from other types.
• ScalableCollider
  A trait for colliders that support scaling.

Type Aliases

• TriMeshFlags
  Flags used for the preprocessing of a triangle mesh collider.
• VHACDParameters
  Parameters controlling the VHACD convex decomposition algorithm.