Trait heron::rapier_plugin::rapier2d::parry::query::PersistentQueryDispatcher

pub trait PersistentQueryDispatcher<ManifoldData = (), ContactData = ()>: QueryDispatcher {
    fn contact_manifolds(
        &self,
        pos12: &Isometry<f32, Unit<Complex<f32>>, 2>,
        g1: &(dyn Shape + 'static),
        g2: &(dyn Shape + 'static),
        prediction: f32,
        manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>, Global>,
        workspace: &mut Option<ContactManifoldsWorkspace>
    ) -> Result<(), Unsupported>;
    fn contact_manifold_convex_convex(
        &self,
        pos12: &Isometry<f32, Unit<Complex<f32>>, 2>,
        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

fn contact_manifolds(
    &self,
    pos12: &Isometry<f32, Unit<Complex<f32>>, 2>,
    g1: &(dyn Shape + 'static),
    g2: &(dyn Shape + 'static),
    prediction: f32,
    manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>, Global>,
    workspace: &mut Option<ContactManifoldsWorkspace>
) -> Result<(), Unsupported>

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.

fn contact_manifold_convex_convex(
    &self,
    pos12: &Isometry<f32, Unit<Complex<f32>>, 2>,
    g1: &(dyn Shape + 'static),
    g2: &(dyn Shape + 'static),
    prediction: f32,
    manifold: &mut ContactManifold<ManifoldData, ContactData>
) -> Result<(), Unsupported>

Computes the contact-manifold between two convex shapes.

Implementors

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

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