pub trait ContactManifoldGenerator<N: RealField + Copy>: Any + Send + Sync {
fn generate_contacts(
&mut self,
dispatcher: &dyn ContactDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>
) -> bool;
fn init_manifold(&self) -> ContactManifold<N> { ... }
}
Expand description
An algorithm to compute contact points, normals and penetration depths between two specific objects.
Required methods
fn generate_contacts(
&mut self,
dispatcher: &dyn ContactDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
proc2: Option<&dyn ContactPreprocessor<N>>,
prediction: &ContactPrediction<N>,
manifold: &mut ContactManifold<N>
) -> bool
fn generate_contacts(
&mut self,
dispatcher: &dyn ContactDispatcher<N>,
ma: &Isometry<N>,
a: &dyn Shape<N>,
proc1: Option<&dyn ContactPreprocessor<N>>,
mb: &Isometry<N>,
b: &dyn Shape<N>,
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.
Provided methods
fn init_manifold(&self) -> ContactManifold<N>
fn init_manifold(&self) -> ContactManifold<N>
Generate an empty contact manifold configured as required by this contact manifold generator.