Struct Gjk 

pub struct Gjk;

Implementations

impl Gjk

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

Test if two shapes are colliding using GJK

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

Get contact information using GJK + EPA

pub fn distance<F>(support: F) -> Option<(f32, Vec3)>

where F: Fn(Vec3) -> Vec3,

Compute distance and closest points using GJK (for non-intersecting shapes) Returns (distance, normal_from_b_to_a)

pub fn conservative_advancement( shape_a: &ColliderShape, pos_a: Vec3, rot_a: Quat, vel_a: Vec3, shape_b: &ColliderShape, pos_b: Vec3, rot_b: Quat, vel_b: Vec3, max_t: f32, ) -> Option<(f32, Vec3)>

Exact TOI (Time of Impact) using Conservative Advancement

pub fn speculative_contact( shape_a: &ColliderShape, pos_a: Vec3, rot_a: Quat, vel_a: Vec3, shape_b: &ColliderShape, pos_b: Vec3, rot_b: Quat, vel_b: Vec3, dt: f32, ) -> Option<ContactPoint>

Exact CCD Sweep Test using Conservative Advancement

pub fn support_point( shape: &ColliderShape, pos: Vec3, rot: Quat, dir: Vec3, ) -> Vec3

Get support point for a shape in a given direction