Struct NarrowPhase 

pub struct NarrowPhase;

Implementations

impl NarrowPhase

pub fn sphere_sphere( pos_a: Vec3, r_a: f32, pos_b: Vec3, r_b: f32, ) -> Option<ContactPoint>

Sphere–Sphere. Normal points from A toward B.

pub fn sphere_plane( sph_pos: Vec3, r: f32, plane_n: Vec3, plane_d: f32, ) -> Option<ContactPoint>

Sphere–Plane. n is the plane normal (points away from the solid half-space); d is the signed plane offset (p·n = d). Normal in the returned contact points from the sphere toward the plane (i.e. into the plane — same convention: A → B where A = sphere).

pub fn box_plane( bpos: Vec3, brot: Quat, half: Vec3, plane_n: Vec3, plane_d: f32, ) -> Vec<ContactPoint>

Box–Plane contact. Returns up to 4 corner contacts (one per penetrating corner). Normal in each contact points from the box toward the plane (-plane_n).

pub fn shape_plane( shape: &ColliderShape, pos: Vec3, rot: Quat, plane_n: Vec3, plane_d: f32, ) -> Option<ContactPoint>

Generic shape–plane using a GJK support point. Returns at most one contact (the deepest support point against the plane).

pub fn box_box( pos_a: Vec3, rot_a: Quat, ha: Vec3, pos_b: Vec3, rot_b: Quat, hb: Vec3, ) -> Vec<ContactPoint>

Box–Box via the Separating Axis Theorem (15 axes) followed by Sutherland–Hodgman clipping to produce up to 4 contact points.

Returns an empty Vec when the boxes do not overlap.

pub fn test_collision( shape_a: &ColliderShape, pos_a: Vec3, rot_a: Quat, shape_b: &ColliderShape, pos_b: Vec3, rot_b: Quat, ) -> Option<ContactPoint>

Return the single deepest contact between two shapes, or None if they do not overlap.

Use this for simple overlap queries or soft-body node tests. For rigid-body simulation prefer [test_collision_manifold] which can return multiple contact points.

pub fn test_collision_manifold( shape_a: &ColliderShape, pos_a: Vec3, rot_a: Quat, shape_b: &ColliderShape, pos_b: Vec3, rot_b: Quat, ) -> Vec<ContactPoint>

Return up to 4 contact points between two shapes.

Compound shapes are handled recursively; each sub-shape pair is dispatched independently and all resulting contacts are collected.