Struct rhusics_ecs::SpatialCollisionSystem

pub struct SpatialCollisionSystem<P, T, D, B, Y = ()> where
    P: Primitive,
    B: Bound,  { /* fields omitted */ }

Collision detection system for use with specs.

Will perform spatial sorting of the collision world.

Has support for both broad phase and narrow phase collision detection. Will only do narrow phase if both broad and narrow phase is activated. If no broad phase is set, it will use a DBVT based broad phase that has complexity O(m log^2 n), where m is the number of shapes that have a dirty pose.

Can handle any transform component type, as long as the type implements Transform, and as long as the storage is wrapped in FlaggedStorage.

Type parameters:

• P: Shape primitive
• T: Transform
• D: Data accepted by broad phase
• Y: Shape type, see Collider

System Function:

fn(Entities, T, NextFrame<T>, CollisionShape, DynamicBoundingVolumeTree<D>) -> (DynamicBoundingVolumeTree<D>, EventChannel<ContactEvent>)

Methods

impl<P, T, D, B, Y> SpatialCollisionSystem<P, T, D, B, Y> where
    P: Primitive + Send + Sync + 'static,
    <P::Point as EuclideanSpace>::Diff: Debug,
    <P::Point as EuclideanSpace>::Scalar: BaseFloat,
    B: Clone + Debug + Send + Sync + 'static + Bound<Point = P::Point> + Union<B, Output = B> + Contains<B> + SurfaceArea<Scalar = <P::Point as EuclideanSpace>::Scalar>,
    T: Transform<P::Point> + Component,
    D: HasBound<Bound = B>, 

pub fn new() -> Self

Create a new collision detection system, with no broad or narrow phase activated.

pub fn with_narrow_phase<N: NarrowPhase<P, T, B, Y> + 'static>(
    self,
    narrow: N
) -> Self

Specify what narrow phase algorithm to use

pub fn with_broad_phase<V: BroadPhase<D> + 'static>(self, broad: V) -> Self

Specify what broad phase algorithm to use

Trait Implementations

impl<'a, P, T, Y, B, D> System<'a> for SpatialCollisionSystem<P, T, (usize, D), B, Y> where
    P: Primitive + ComputeBound<B> + Send + Sync + 'static,
    P::Point: EuclideanSpace,
    <P::Point as EuclideanSpace>::Scalar: BaseFloat + Send + Sync + 'static,
    B: Clone + Debug + Send + Sync + 'static + Bound<Point = P::Point> + Union<B, Output = B> + Discrete<B> + Contains<B> + SurfaceArea<Scalar = <P::Point as EuclideanSpace>::Scalar>,
    <P::Point as EuclideanSpace>::Diff: Debug + Send + Sync + 'static,
    P::Point: Debug + Send + Sync + 'static,
    T: Component + Clone + Debug + Transform<P::Point> + Send + Sync + 'static,
    Y: Default + Send + Sync + 'static,
    &'b T::Storage: Join<Type = &'b T>,
    D: Send + Sync + 'static + TreeValue<Bound = B> + HasBound<Bound = B> + GetId<Entity>, 

type SystemData = (Entities<'a>, ReadStorage<'a, T>, ReadStorage<'a, NextFrame<T>>, ReadStorage<'a, CollisionShape<P, T, B, Y>>, FetchMut<'a, EventChannel<ContactEvent<Entity, P::Point>>>, FetchMut<'a, DynamicBoundingVolumeTree<D>>)

The resource bundle required to execute this system.

fn run(&mut self, system_data: Self::SystemData)

Executes the system with the required system data.

fn running_time(&self) -> RunningTime

Returns a hint how long the system needs for running. This is used to optimize the way they're executed (might allow more parallelization).