Struct ncollide2d::world::CollisionWorld
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pub struct CollisionWorld<N: Real, T> { /* fields omitted */ }
A world that handles collision objects.
Methods
impl<N: Real, T> CollisionWorld<N, T>
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pub fn new(margin: N) -> CollisionWorld<N, T>
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Creates a new collision world.
pub fn add(
&mut self,
position: Isometry<N>,
shape: ShapeHandle<N>,
collision_groups: CollisionGroups,
query_type: GeometricQueryType<N>,
data: T
) -> CollisionObjectHandle
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&mut self,
position: Isometry<N>,
shape: ShapeHandle<N>,
collision_groups: CollisionGroups,
query_type: GeometricQueryType<N>,
data: T
) -> CollisionObjectHandle
Adds a collision object to the world.
pub fn update(&mut self)
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Updates the collision world.
This executes the whole collision detection pipeline:
- Clears the event pools.
- Executes the broad phase first.
- Executes the narrow phase.
pub fn clear_events(&mut self)
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Empty the contact and proximity event pools.
pub fn remove(&mut self, handles: &[CollisionObjectHandle])
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Removed the specified set of collision objects from the world.
Panics of any handle is invalid, or if the list contains duplicates.
pub fn set_position(&mut self, handle: CollisionObjectHandle, pos: Isometry<N>)
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Sets the position the collision object attached to the specified object.
pub fn register_broad_phase_pair_filter<F>(&mut self, name: &str, filter: F) where
F: BroadPhasePairFilter<N, T>,
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F: BroadPhasePairFilter<N, T>,
Adds a filter that tells if a potential collision pair should be ignored or not.
The proximity filter returns false
for a given pair of collision objects if they should
be ignored by the narrow phase. Keep in mind that modifying the proximity filter will have
a non-trivial overhead during the next update as it will force re-detection of all
collision pairs.
pub fn unregister_broad_phase_pair_filter(&mut self, name: &str)
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Removes the pair filter named name
.
pub fn perform_broad_phase(&mut self)
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Executes the broad phase of the collision detection pipeline.
pub fn perform_narrow_phase(&mut self)
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Executes the narrow phase of the collision detection pipeline.
pub fn set_narrow_phase(
&mut self,
narrow_phase: Box<NarrowPhase<N, T>>
) -> Box<NarrowPhase<N, T>>
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&mut self,
narrow_phase: Box<NarrowPhase<N, T>>
) -> Box<NarrowPhase<N, T>>
Sets a new narrow phase and returns the previous one.
Keep in mind that modifying the narrow-pase will have a non-trivial overhead during the next update as it will force re-detection of all collision pairs and their associated contacts.
ⓘImportant traits for ContactPairs<'a, N, T>pub fn contact_pairs(&self) -> ContactPairs<N, T>
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Iterates through all the contact pairs detected since the last update.
ⓘImportant traits for ProximityPairs<'a, N, T>pub fn proximity_pairs(&self) -> ProximityPairs<N, T>
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Iterates through all the proximity pairs detected since the last update.
ⓘImportant traits for ContactManifolds<'a, N, T>pub fn contact_manifolds(&self) -> ContactManifolds<N, T>
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Iterates through every contact detected since the last update.
ⓘImportant traits for CollisionObjects<'a, N, T>pub fn collision_objects(&self) -> CollisionObjects<N, T>
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Iterates through all collision objects.
pub fn collision_object(
&self,
handle: CollisionObjectHandle
) -> Option<&CollisionObject<N, T>>
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&self,
handle: CollisionObjectHandle
) -> Option<&CollisionObject<N, T>>
Returns a reference to the collision object identified by its handle.
pub fn collision_object_mut(
&mut self,
handle: CollisionObjectHandle
) -> Option<&mut CollisionObject<N, T>>
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&mut self,
handle: CollisionObjectHandle
) -> Option<&mut CollisionObject<N, T>>
Returns a mutable reference to the collision object identified by its handle.
pub fn set_collision_groups(
&mut self,
handle: CollisionObjectHandle,
groups: CollisionGroups
)
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&mut self,
handle: CollisionObjectHandle,
groups: CollisionGroups
)
Sets the collision groups of the given collision object.
ⓘImportant traits for InterferencesWithRay<'a, 'b, N, T>pub fn interferences_with_ray<'a, 'b>(
&'a self,
ray: &'b Ray<N>,
groups: &'b CollisionGroups
) -> InterferencesWithRay<'a, 'b, N, T>
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&'a self,
ray: &'b Ray<N>,
groups: &'b CollisionGroups
) -> InterferencesWithRay<'a, 'b, N, T>
Computes the interferences between every rigid bodies on this world and a ray.
ⓘImportant traits for InterferencesWithPoint<'a, 'b, N, T>pub fn interferences_with_point<'a, 'b>(
&'a self,
point: &'b Point<N>,
groups: &'b CollisionGroups
) -> InterferencesWithPoint<'a, 'b, N, T>
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&'a self,
point: &'b Point<N>,
groups: &'b CollisionGroups
) -> InterferencesWithPoint<'a, 'b, N, T>
Computes the interferences between every rigid bodies of a given broad phase, and a point.
ⓘImportant traits for InterferencesWithAABB<'a, 'b, N, T>pub fn interferences_with_aabb<'a, 'b>(
&'a self,
aabb: &'b AABB<N>,
groups: &'b CollisionGroups
) -> InterferencesWithAABB<'a, 'b, N, T>
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&'a self,
aabb: &'b AABB<N>,
groups: &'b CollisionGroups
) -> InterferencesWithAABB<'a, 'b, N, T>
Computes the interferences between every rigid bodies of a given broad phase, and a aabb.
pub fn contact_events(&self) -> &ContactEvents
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The contact events pool.
pub fn proximity_events(&self) -> &ProximityEvents
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The proximity events pool.
Trait Implementations
Auto Trait Implementations
impl<N, T> Send for CollisionWorld<N, T> where
T: Send,
T: Send,
impl<N, T> Sync for CollisionWorld<N, T> where
T: Sync,
T: Sync,