Trait heron::rapier_plugin::rapier::ncollide::pipeline::narrow_phase::ContactManifoldGenerator

pub trait ContactManifoldGenerator<N>: Send + Sync + Any where
    N: RealField, {
    pub fn generate_contacts(
        &mut self, 
        dispatcher: &(dyn ContactDispatcher<N> + 'static), 
        ma: &Isometry<N, U3, Unit<Quaternion<N>>>, 
        a: &(dyn Shape<N> + 'static), 
        proc1: Option<&dyn ContactPreprocessor<N>>, 
        mb: &Isometry<N, U3, Unit<Quaternion<N>>>, 
        b: &(dyn Shape<N> + 'static), 
        proc2: Option<&dyn ContactPreprocessor<N>>, 
        prediction: &ContactPrediction<N>, 
        manifold: &mut ContactManifold<N>
    ) -> bool;

    pub fn init_manifold(&self) -> ContactManifold<N> { ... }
}

An algorithm to compute contact points, normals and penetration depths between two specific objects.

Required methods

pub fn generate_contacts(
    &mut self,
    dispatcher: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

Runs the collision detection on two objects. It is assumed that the same collision detector (the same structure) is always used with the same pair of objects.

Returns false if persisting this algorithm for re-use is unlikely to improve performance, e.g. due to the objects being distant. Note that if the ContactManifoldGenerator would likely be immediately reconstructed in the next time-step, dropping it is sub-optimal regardless.

Loading content...

Provided methods

pub fn init_manifold(&self) -> ContactManifold<N>

Generate an empty contact manifold configured as required by this contact manifold generator.

Loading content...

Implementors

impl<N> ContactManifoldGenerator<N> for BallBallManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for BallConvexPolyhedronManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    m1: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for CapsuleCapsuleManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    d: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for CapsuleShapeManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    d: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for CompositeShapeCompositeShapeManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    d: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for CompositeShapeShapeManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    d: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

pub fn init_manifold(&self) -> ContactManifold<N>

impl<N> ContactManifoldGenerator<N> for ConvexPolyhedronConvexPolyhedronManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for HeightFieldShapeManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    d: &(dyn ContactDispatcher<N> + 'static),
    ma: &Isometry<N, U3, Unit<Quaternion<N>>>,
    a: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N, U3, Unit<Quaternion<N>>>,
    b: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for PlaneBallManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    m1: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g1: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g2: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for PlaneConvexPolyhedronManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    m1: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g1: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g2: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N> ContactManifoldGenerator<N> for TriMeshTriMeshManifoldGenerator<N> where
    N: RealField, 

pub fn generate_contacts(
    &mut self,
    &(dyn ContactDispatcher<N> + 'static),
    m1: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g1: &(dyn Shape<N> + 'static),
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N, U3, Unit<Quaternion<N>>>,
    g2: &(dyn Shape<N> + 'static),
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

pub fn init_manifold(&self) -> ContactManifold<N>

Loading content...