Trait heron::rapier_plugin::rapier::parry::query::PersistentQueryDispatcher[−][src]

pub trait PersistentQueryDispatcher<ManifoldData = (), ContactData = ()>: QueryDispatcher {
    pub fn contact_manifolds(
        &self, 
        pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
        g1: &(dyn Shape + 'static), 
        g2: &(dyn Shape + 'static), 
        prediction: f32, 
        manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>, Global>, 
        workspace: &mut Option<ContactManifoldsWorkspace>
    ) -> Result<(), Unsupported>;

    pub fn contact_manifold_convex_convex(
        &self, 
        pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, 
        g1: &(dyn Shape + 'static), 
        g2: &(dyn Shape + 'static), 
        prediction: f32, 
        manifold: &mut ContactManifold<ManifoldData, ContactData>
    ) -> Result<(), Unsupported>;
}

A query dispatcher for queries relying on spatial coherence, including contact-manifold computation.

Required methods

pub fn contact_manifolds(
    &self,
    pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    g1: &(dyn Shape + 'static),
    g2: &(dyn Shape + 'static),
    prediction: f32,
    manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>, Global>,
    workspace: &mut Option<ContactManifoldsWorkspace>
) -> Result<(), Unsupported>[src]

Compute all the contacts between two shapes.

The output is written into manifolds and context. Both can persist between multiple calls to contacts by re-using the result of the previous call to contacts. This persistence can significantly improve collision detection performances by allowing the underlying algorithms to exploit spatial and temporal coherence.

pub fn contact_manifold_convex_convex(
    &self,
    pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    g1: &(dyn Shape + 'static),
    g2: &(dyn Shape + 'static),
    prediction: f32,
    manifold: &mut ContactManifold<ManifoldData, ContactData>
) -> Result<(), Unsupported>[src]

Computes the contact-manifold between two convex shapes.

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Implementors

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

impl<ManifoldData, ContactData, T, U> PersistentQueryDispatcher<ManifoldData, ContactData> for QueryDispatcherChain<T, U> where
    T: PersistentQueryDispatcher<ManifoldData, ContactData>,
    U: PersistentQueryDispatcher<ManifoldData, ContactData>, [src]

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