Struct ncollide2d::narrow_phase::ConvexPolyhedronConvexPolyhedronManifoldGenerator

pub struct ConvexPolyhedronConvexPolyhedronManifoldGenerator<N: Real> { /* fields omitted */ }

Persistent contact manifold computation 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<N: Real> ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

pub fn new() -> ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

Creates a new persistant collision detector between two convex polyhedra.

Trait Implementations

impl<N: Clone + Real> Clone for ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

fn clone(&self) -> ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Real> ContactManifoldGenerator<N> for ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

fn update(
    &mut self,
    _: &ContactDispatcher<N>,
    ida: usize,
    ma: &Isometry<N>,
    a: &Shape<N>,
    idb: usize,
    mb: &Isometry<N>,
    b: &Shape<N>,
    prediction: &ContactPrediction<N>,
    ids: &mut IdAllocator
) -> 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 found.

fn contacts<'a: 'b, 'b>(&'a self, out: &'b mut Vec<&'a ContactManifold<N>>)

Collects the contact manifolds generated by the last update.