Struct ncollide3d::narrow_phase::NarrowPhase

pub struct NarrowPhase<N: Real> { /* fields omitted */ }

Collision detector dispatcher for collision objects.

Methods

impl<N: Real> NarrowPhase<N>

pub fn new(
    contact_dispatcher: Box<dyn ContactDispatcher<N>>,
    proximity_dispatcher: Box<dyn ProximityDispatcher<N>>
) -> NarrowPhase<N>

Creates a new NarrowPhase.

pub fn update<T>(
    &mut self,
    objects: &CollisionObjectSlab<N, T>,
    contact_events: &mut ContactEvents,
    proximity_events: &mut ProximityEvents,
    timestamp: usize
)

Updates the narrow-phase by actually computing contact points and proximities between the interactions pairs reported by the broad-phase.

This will push relevant events to contact_events and proximity_events.

pub fn handle_interaction<T>(
    &mut self,
    contact_events: &mut ContactEvents,
    proximity_events: &mut ProximityEvents,
    objects: &CollisionObjectSlab<N, T>,
    handle1: CollisionObjectHandle,
    handle2: CollisionObjectHandle,
    started: bool
)

Handles a pair of collision objects detected as either started or stopped interacting.

pub fn handle_removal<T>(
    &mut self,
    objects: &CollisionObjectSlab<N, T>,
    handle1: CollisionObjectHandle,
    handle2: CollisionObjectHandle
)

Handles the removal of a collision object.

pub fn handle_collision_object_added(
    &mut self,
    object: CollisionObjectHandle
) -> InteractionGraphIndex

Handles the addition of a new collision object.

pub fn handle_collision_object_removed<T>(
    &mut self,
    object: &CollisionObject<N, T>
) -> Option<CollisionObjectHandle>

Handles the removal of a collision object.

pub fn interaction_graph(&self) -> &InteractionGraph<N>

The graph where nodes are collision object handles and edges are their interactions (contact or proximity algorithms).