Struct ncollide::narrow_phase::SupportMapSupportMapContactGenerator

pub struct SupportMapSupportMapContactGenerator<P, M, S> where
    P: Point,  { /* fields omitted */ }

Persistent collision detector between two shapes having a support mapping function.

It is based on the GJK algorithm. This detector generates only one contact point. For a full manifold generation, see IncrementalContactManifoldGenerator.

Methods

impl<P, M, S> SupportMapSupportMapContactGenerator<P, M, S> where
    P: Point,
    S: Simplex<AnnotatedPoint<P>>, 

fn new(simplex: S) -> SupportMapSupportMapContactGenerator<P, M, S>

Creates a new persistant collision detector between two shapes with support mapping functions.

It is initialized with a pre-created simplex.

Trait Implementations

impl<P, M, S> ContactGenerator<P, M> for SupportMapSupportMapContactGenerator<P, M, S> where
    M: Isometry<P>,
    P: Point,
    S: Simplex<AnnotatedPoint<P>>, 

fn update(
    &mut self,
    &ContactDispatcher<P, M>,
    ma: &M,
    a: &(Shape<P, M> + 'static),
    mb: &M,
    b: &(Shape<P, M> + 'static),
    prediction: <P as EuclideanSpace>::Real
) -> bool

Runs the collision detection on two objects. It is assumed that the same collision detector (the same structure) is always used with the same pair of object.

fn num_contacts(&self) -> usize

The number of contacts generated the last update.

fn contacts(&self, out_contacts: &mut Vec<Contact<P>>)

Collects the contacts generated during the last update.

impl<P, M, S> Clone for SupportMapSupportMapContactGenerator<P, M, S> where
    M: Clone,
    P: Clone + Point,
    S: Clone,
    <P as Point>::Vector: Clone, 

fn clone(&self) -> SupportMapSupportMapContactGenerator<P, M, S>