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use na::RealField;
use crate::math::Isometry;
use crate::shape::Shape;
use crate::bounding_volume::{AABB, BoundingVolume};
use crate::pipeline::object::{CollisionObjectHandle, GeometricQueryType};
use crate::pipeline::broad_phase::{BroadPhase, DBVTBroadPhase, BroadPhaseProxyHandle};
use crate::pipeline::narrow_phase::{NarrowPhase, DefaultContactDispatcher, DefaultProximityDispatcher, InteractionGraph, CollisionObjectGraphIndex};
pub fn create_proxies<'a, N: RealField, Handle: CollisionObjectHandle>(handle: Handle,
broad_phase: &mut (impl BroadPhase<N,AABB<N>, Handle> + ?Sized),
interactions: &mut InteractionGraph<N, Handle>,
position: &Isometry<N>,
shape: &(impl Shape<N> + ?Sized),
query_type: GeometricQueryType<N>)
-> (BroadPhaseProxyHandle, CollisionObjectGraphIndex) {
let mut aabb = shape.aabb(position);
aabb.loosen(query_type.query_limit());
let proxy_handle = broad_phase.create_proxy(aabb, handle);
let graph_index = interactions.add_node(handle);
(proxy_handle, graph_index)
}
#[must_use = "The graph index of the collision object returned by this method has been changed to the returned graph index."]
pub fn remove_proxies<'a, N: RealField, Handle: CollisionObjectHandle>(
broad_phase: &mut (impl BroadPhase<N,AABB<N>, Handle> + ?Sized),
interactions: &mut InteractionGraph<N, Handle>,
proxy_handle: BroadPhaseProxyHandle,
graph_index: CollisionObjectGraphIndex)
-> Option<(Handle, CollisionObjectGraphIndex)> {
broad_phase.remove(&[proxy_handle], &mut |_, _| {});
interactions.remove_node(graph_index).map(|h| (h, graph_index))
}
pub fn default_narrow_phase<N: RealField, Handle: CollisionObjectHandle>() -> NarrowPhase<N, Handle> {
let coll_dispatcher = Box::new(DefaultContactDispatcher::new());
let prox_dispatcher = Box::new(DefaultProximityDispatcher::new());
NarrowPhase::new(coll_dispatcher, prox_dispatcher)
}
pub fn default_broad_phase<N: RealField, Handle: CollisionObjectHandle>() -> DBVTBroadPhase<N, AABB<N>, Handle> {
let default_margin = 0.01f64;
DBVTBroadPhase::new(na::convert(default_margin))
}
pub fn default_interaction_graph<N: RealField, Handle: CollisionObjectHandle>() -> InteractionGraph<N, Handle> {
InteractionGraph::new()
}