Module oxygengine_physics_2d::prelude::ncollide2d::query

Non-persistent geometric queries.

General cases

The most general methods provided by this module are:

• [query::closest_points()] to compute the closest points between two shapes.
• [query::distance()] to compute the distance between two shapes.
• [query::contact()] to compute one pair of contact points between two shapes, including penetrating contact.
• [query::proximity()] to determine if two shapes are intersecting or not.
• [query::time_of_impact()] to determine when two shapes undergoing translational motions hit for the first time.
• [query::nonlinear_time_of_impact()] to determine when two shapes undergoing continuous rigid motions hit for the first time.

Ray-casting and point-projection can be achieved by importing traits:

• [query::RayCast] for ray-casting.
• [query::PointQuery] for point projection.

Specific cases

All the other functions exported by this module are more specific versions of the ones described above. For example distance_ball_ball computes the distance between two shapes known at compile-time to be balls. They are less convenient to use than the most generic version but will be slightly faster due to the lack of dynamic dispatch. Generally, the specific functions have the form [operation]_[shape1]_[shape2]() where:

• [operation] can be closest_points, distance, contact, proximity or time_of_impact.
• [shape1] is the type of the first shape passed to the function, e.g., ball, or plane. Can also identify a trait implemented by supported shapes, e.g., support_map.
• [shape2] is the type of the second shape passed to the function, e.g., ball, or plane. Can also identify a trait implemented by supported shapes, e.g., support_map.

Modules

• algorithms
  Algorithms needed for distance and penetration depth computation.
• visitors
  Visitors for performing geometric queries exploiting spatial partitioning data structures.

Structs

• Chain
  The composition of two dispatchers
• Contact
  Geometric description of a contact.
• ContactId
  A contact identifier which is unique within a contact manifold.
• ContactKinematic
  Local contact kinematic of a pair of solids around two given points.
• ContactManifold
  A contact manifold.
• ContactPrediction
  The prediction parameters for contact determination.
• DefaultTOIDispatcher
  A dispatcher that exposes built-in queries
• LocalShapeApproximation
  The approximation of a shape on the neighborhood of a point.
• PointProjection
  Description of the projection of a point on a shape.
• Ray
  A Ray.
• RayIntersection
  Structure containing the result of a successful ray cast.
• TOI
  The result of a time-of-impact (TOI) computation.
• TrackedContact
  A contact combined with contact kinematic information as well as a persistent identifier.
• Unsupported
  Error indicating that a query is not supported between certain shapes

Enums

• ClosestPoints
  Closest points information.
• ContactTrackingMode
  The technique used for contact tracking.
• NeighborhoodGeometry
  A shape geometry type at the neighborhood of a point.
• Proximity
  Proximity information.
• TOIStatus
  The status of the time-of-impact computation algorithm.

Traits

• ContactPreprocessor
  Pre-process a contact before it is added to a contact manifold.
• PointQuery
  Trait of objects that can be tested for point inclusion and projection.
• PointQueryWithLocation
  Returns shape-specific info in addition to generic projection information
• RayCast
  Traits of objects which can be transformed and tested for intersection with a ray.
• TOIDispatcher
  Dispatcher for time-of-impact queries

Functions

• closest_points
  Computes the pair of closest points between two shapes.
• closest_points_ball_ball
  Proximity between balls.
• closest_points_composite_shape_shape
  Closest points between a composite shape and any other shape.
• closest_points_line_line
  Closest points between two segments.
• closest_points_line_line_parameters
  Closest points between two lines.
• closest_points_line_line_parameters_eps
  Closest points between two lines with a custom tolerance epsilon.
• closest_points_plane_support_map
  Closest points between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
• closest_points_segment_segment
  Closest points between segments.
• closest_points_segment_segment_with_locations
  Closest points between two segments.
• closest_points_segment_segment_with_locations_nD
  Segment-segment closest points computation in an arbitrary dimension.
• closest_points_segment_segment_with_locations_nD_eps
  Segment-segment closest points computation in an arbitrary dimension.
• closest_points_shape_composite_shape
  Closest points between a shape and a composite shape.
• closest_points_support_map_plane
  Closest points between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
• closest_points_support_map_support_map
  Closest points between support-mapped shapes (Cuboid, ConvexHull, etc.)
• closest_points_support_map_support_map_with_params
  Closest points between support-mapped shapes (Cuboid, ConvexHull, etc.)
• contact
  Computes one contact point between two shapes.
• contact_ball_ball
  Contact between balls.
• contact_ball_convex_polyhedron
  Contact between a ball and a convex polyhedron.
• contact_composite_shape_shape
  Best contact between a composite shape (Mesh, Compound) and any other shape.
• contact_convex_polyhedron_ball
  Contact between a convex polyhedron and a ball.
• contact_plane_support_map
  Contact between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
• contact_shape_composite_shape
  Best contact between a shape and a composite (Mesh, Compound) shape.
• contact_support_map_plane
  Contact between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
• contact_support_map_support_map
  Contact between support-mapped shapes (Cuboid, ConvexHull, etc.)
• contact_support_map_support_map_with_params
  Contact between support-mapped shapes (Cuboid, ConvexHull, etc.)
• distance
  Computes the minimum distance separating two shapes.
• distance_ball_ball
  Distance between balls.
• distance_composite_shape_shape
  Smallest distance between a composite shape and any other shape.
• distance_plane_support_map
  Distance between a plane and a support-mapped shape.
• distance_shape_composite_shape
  Smallest distance between a shape and a composite shape.
• distance_support_map_plane
  Distance between a support-mapped shape and a plane.
• distance_support_map_support_map
  Distance between support-mapped shapes.
• distance_support_map_support_map_with_params
  Distance between support-mapped shapes.
• line_toi_with_plane
  Computes the toi of an unbounded line with a plane described by its center and normal.
• nonlinear_time_of_impact
  Computes the smallest time of impact of two shapes under translational movement.
• nonlinear_time_of_impact_ball_ball
  Non-linear Time Of Impact of two balls under a rigid motion (translation + rotation).
• nonlinear_time_of_impact_composite_shape_shape
  Time Of Impact of a composite shape with any other shape, under a rigid motion (translation + rotation).
• nonlinear_time_of_impact_shape_composite_shape
  Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).
• nonlinear_time_of_impact_support_map_support_map
  Time of impacts between two support-mapped shapes under a rigid motion.
• nonlinear_time_of_impact_support_map_support_map_with_closest_points_function
  Time of impacts between two support-mapped shapes under a rigid motion.
• point_projection_on_support_map
  Projects a point on a shape using the GJK algorithm.
• proximity
  Tests whether two shapes are in intersecting or separated by a distance smaller than margin.
• proximity_ball_ball
  Proximity between balls.
• proximity_composite_shape_shape
  Proximity between a composite shape (Mesh, Compound) and any other shape.
• proximity_plane_support_map
  Proximity between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
• proximity_shape_composite_shape
  Proximity between a shape and a composite (Mesh, Compound) shape.
• proximity_support_map_plane
  Proximity between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
• proximity_support_map_support_map
  Proximity between support-mapped shapes (Cuboid, ConvexHull, etc.)
• proximity_support_map_support_map_with_params
  Proximity between support-mapped shapes (Cuboid, ConvexHull, etc.)
• ray_intersection_with_support_map_with_params
  Cast a ray on a shape using the GJK algorithm.
• ray_toi_with_ball
  Computes the time of impact of a ray on a ball.
• ray_toi_with_plane
  Computes the toi of a ray with a plane described by its center and normal.
• time_of_impact
  Computes the smallest time at with two shapes under translational movement are separated by a distance smaller or equal to distance.
• time_of_impact_ball_ball
  Time Of Impact of two balls under translational movement.
• time_of_impact_composite_shape_shape
  Time Of Impact of a composite shape with any other shape, under translational movement.
• time_of_impact_plane_support_map
  Time Of Impact of a plane with a support-mapped shape under translational movement.
• time_of_impact_shape_composite_shape
  Time Of Impact of any shape with a composite shape, under translational movement.
• time_of_impact_support_map_plane
  Time Of Impact of a plane with a support-mapped shape under translational movement.
• time_of_impact_support_map_support_map
  Time of impacts between two support-mapped shapes under translational movement.