Struct parry3d::query::DefaultQueryDispatcher

pub struct DefaultQueryDispatcher;

A dispatcher that exposes built-in queries

Trait Implementations

impl Clone for DefaultQueryDispatcher

fn clone(&self) -> DefaultQueryDispatcher

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for DefaultQueryDispatcher

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<ManifoldData, ContactData> PersistentQueryDispatcher<ManifoldData, ContactData> for DefaultQueryDispatcher where
    ManifoldData: Default + Clone,
    ContactData: Default + Copy, 

fn contact_manifolds(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    prediction: Real,
    manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
    workspace: &mut Option<ContactManifoldsWorkspace>
) -> Result<(), Unsupported>

Compute all the contacts between two shapes.

fn contact_manifold_convex_convex(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    prediction: Real,
    manifold: &mut ContactManifold<ManifoldData, ContactData>
) -> Result<(), Unsupported>

Computes the contact-manifold between two convex shapes.

impl QueryDispatcher for DefaultQueryDispatcher

fn intersection_test(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape
) -> Result<bool, Unsupported>

Tests whether two shapes are intersecting.

fn distance(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape
) -> Result<Real, Unsupported>

Computes the minimum distance separating two shapes.

Returns 0.0 if the objects are touching or penetrating.

fn contact(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    prediction: Real
) -> Result<Option<Contact>, Unsupported>

Computes one pair of contact points point between two shapes.

fn closest_points(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    max_dist: Real
) -> Result<ClosestPoints, Unsupported>

Computes the pair of closest points between two shapes.

fn time_of_impact(
    &self,
    pos12: &Isometry<Real>,
    vel12: &Vector<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    max_toi: Real,
    target_distance: Real
) -> Result<Option<TOI>, Unsupported>

Computes the smallest time when two shapes under translational movement are separated by a distance smaller or equal to distance.

fn nonlinear_time_of_impact(
    &self,
    motion12: &dyn RigidMotion,
    shape1: &dyn Shape,
    shape2: &dyn Shape,
    max_toi: Real,
    target_distance: Real
) -> Result<Option<TOI>, Unsupported>

Computes the smallest time of impact of two shapes under translational movement.

fn chain<U: QueryDispatcher>(self, other: U) -> QueryDispatcherChain<Self, U> where
    Self: Sized, 

Construct a QueryDispatcher that falls back on other for cases not handled by self