Struct collision::algorithm::minkowski::GJK

pub struct GJK<SP, E, S> { /* fields omitted */ }

Gilbert-Johnson-Keerthi narrow phase collision detection algorithm.

Type parameters:

• S: simplex processor type. Should be either SimplexProcessor2 or SimplexProcessor3
• E: EPA algorithm implementation type. Should be either EPA2 or EPA3

Methods

impl<SP, E, S> GJK<SP, E, S> where
    SP: SimplexProcessor,
    SP::Point: EuclideanSpace<Scalar = S>,
    S: BaseFloat,
    E: EPA<Point = SP::Point>, 

pub fn new() -> Self

Create a new GJK algorithm implementation

pub fn new_with_settings(
    distance_tolerance: S,
    continuous_tolerance: S,
    epa_tolerance: S,
    max_iterations: u32
) -> Self

Create a new GJK algorithm implementation with the given tolerance settings

pub fn intersect<P, PL, PR, TL, TR>(
    &self,
    left: &PL,
    left_transform: &TL,
    right: &PR,
    right_transform: &TR
) -> Option<SmallVec<[SupportPoint<P>; 5]>> where
    P: EuclideanSpace<Scalar = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    SP: SimplexProcessor<Point = P>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    TL: Transform<P>,
    TR: Transform<P>, 

Do intersection test on the given primitives

Parameters:

• left: left primitive
• left_transform: model-to-world-transform for the left primitive
• right: right primitive,
• right_transform: model-to-world-transform for the right primitive

Returns:

Will return a simplex if a collision was detected. For 2D, the simplex will be a triangle, for 3D, it will be a tetrahedron. The simplex will enclose the origin. If no collision was detected, None is returned.

pub fn intersection_time_of_impact<P, PL, PR, TL, TR>(
    &self,
    left: &PL,
    left_transform: Range<&TL>,
    right: &PR,
    right_transform: Range<&TR>
) -> Option<Contact<P>> where
    P: EuclideanSpace<Scalar = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    SP: SimplexProcessor<Point = P>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    TL: Transform<P> + TranslationInterpolate<S>,
    TR: Transform<P> + TranslationInterpolate<S>, 

Do time of impact intersection testing on the given primitives, and return a valid contact at the time of impact.

Parameters:

• left: left primitive
• left_transform: model-to-world-transform for the left primitive
• right: right primitive,
• right_transform: model-to-world-transform for the right primitive

Returns:

Will optionally return a contact manifold at the time of impact. If no collision was detected, None is returned.

pub fn distance<P, PL, PR, TL, TR>(
    &self,
    left: &PL,
    left_transform: &TL,
    right: &PR,
    right_transform: &TR
) -> Option<S> where
    P: EuclideanSpace<Scalar = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    SP: SimplexProcessor<Point = P>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    TL: Transform<P>,
    TR: Transform<P>, 

Compute the distance between the given primitives.

Parameters:

• left: left primitive
• left_transform: model-to-world-transform for the left primitive
• right: right primitive,
• right_transform: model-to-world-transform for the right primitive

Returns:

Will optionally return the distance between the objects. Will return None, if the objects are colliding.

pub fn get_contact_manifold<P, PL, PR, TL, TR>(
    &self,
    simplex: &mut Vec<SupportPoint<P>>,
    left: &PL,
    left_transform: &TL,
    right: &PR,
    right_transform: &TR
) -> Option<Contact<P>> where
    P: EuclideanSpace<Scalar = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    TL: Transform<P>,
    TR: Transform<P>,
    SP: SimplexProcessor<Point = P>, 

Given a GJK simplex that encloses the origin, compute the contact manifold.

Uses the EPA algorithm to find the contact information from the simplex.

pub fn intersection<P, PL, PR, TL, TR>(
    &self,
    strategy: &CollisionStrategy,
    left: &PL,
    left_transform: &TL,
    right: &PR,
    right_transform: &TR
) -> Option<Contact<P>> where
    P: EuclideanSpace<Scalar = S>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    TL: Transform<P>,
    TR: Transform<P>,
    SP: SimplexProcessor<Point = P>, 

Do intersection testing on the given primitives, and return the contact manifold.

Parameters:

• strategy: strategy to use, if CollisionOnly it will only return a boolean result, otherwise, EPA will be used to compute the exact contact point.
• left: left primitive
• left_transform: model-to-world-transform for the left primitive
• right: right primitive,
• right_transform: model-to-world-transform for the right primitive

Returns:

Will optionally return a Contact if a collision was detected. In CollisionOnly mode, this contact will only be a boolean result. For FullResolution mode, the contact will contain a full manifold (collision normal, penetration depth and contact point).

pub fn intersection_complex<P, PL, PR, TL, TR>(
    &self,
    strategy: &CollisionStrategy,
    left: &[(PL, TL)],
    left_transform: &TL,
    right: &[(PR, TR)],
    right_transform: &TR
) -> Option<Contact<P>> where
    P: EuclideanSpace<Scalar = S>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    TL: Transform<P>,
    TR: Transform<P>,
    SP: SimplexProcessor<Point = P>, 

Do intersection test on the given complex shapes, and return the actual intersection point

Parameters:

• strategy: strategy to use, if CollisionOnly it will only return a boolean result, otherwise, EPA will be used to compute the exact contact point.
• left: shape consisting of a slice of primitive + local-to-model-transform for each primitive,
• left_transform: model-to-world-transform for the left shape
• right: shape consisting of a slice of primitive + local-to-model-transform for each primitive,
• right_transform: model-to-world-transform for the right shape

Returns:

Will optionally return a Contact if a collision was detected. In CollisionOnly mode, this contact will only be a boolean result. For FullResolution mode, the contact will contain a full manifold (collision normal, penetration depth and contact point), for the contact with the highest penetration depth.

pub fn distance_complex<P, PL, PR, TL, TR>(
    &self,
    left: &[(PL, TL)],
    left_transform: &TL,
    right: &[(PR, TR)],
    right_transform: &TR
) -> Option<S> where
    P: EuclideanSpace<Scalar = S>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    TL: Transform<P>,
    TR: Transform<P>,
    SP: SimplexProcessor<Point = P>, 

Compute the distance between the given shapes.

Parameters:

• left: left shape
• left_transform: model-to-world-transform for the left shape
• right: right shape,
• right_transform: model-to-world-transform for the right shape

Returns:

Will optionally return the smallest distance between the objects. Will return None, if the objects are colliding.

pub fn intersection_complex_time_of_impact<P, PL, PR, TL, TR>(
    &self,
    strategy: &CollisionStrategy,
    left: &[(PL, TL)],
    left_transform: Range<&TL>,
    right: &[(PR, TR)],
    right_transform: Range<&TR>
) -> Option<Contact<P>> where
    P: EuclideanSpace<Scalar = S>,
    P::Diff: Neg<Output = P::Diff> + InnerSpace + Zero + Array<Element = S>,
    PL: Primitive<Point = P>,
    PR: Primitive<Point = P>,
    TL: Transform<P> + TranslationInterpolate<S>,
    TR: Transform<P> + TranslationInterpolate<S>,
    SP: SimplexProcessor<Point = P>, 

Do intersection time of impact test on the given complex shapes, and return the contact at the time of impact

Parameters:

• strategy: strategy to use, if CollisionOnly it will only return a boolean result, otherwise, a full contact manifold will be returned.
• left: shape consisting of a slice of primitive + local-to-model-transform for each primitive,
• left_transform: model-to-world-transform for the left shape
• right: shape consisting of a slice of primitive + local-to-model-transform for each primitive,
• right_transform: model-to-world-transform for the right shape

Returns:

Will optionally return the contact if a collision was detected. In CollisionOnly mode, this contact will only be a time of impact. For FullResolution mode, the time of impact will be the earliest found among all shape primitives. Will return None if no collision was found.

Trait Implementations

impl<SP: Debug, E: Debug, S: Debug> Debug for GJK<SP, E, S>

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

Formats the value using the given formatter.