Trait ncollide2d::narrow_phase::ContactManifoldGenerator

pub trait ContactManifoldGenerator<N: Real>: Any + Send + Sync {
    fn update(
        &mut self,
        dispatcher: &dyn ContactDispatcher<N>,
        ida: usize,
        ma: &Isometry<N>,
        a: &dyn Shape<N>,
        idb: usize,
        mb: &Isometry<N>,
        b: &dyn Shape<N>,
        prediction: &ContactPrediction<N>,
        id_alloc: &mut IdAllocator
    ) -> bool;
    fn num_contacts(&self) -> usize;
    fn contacts<'a: 'b, 'b>(&'a self, out: &'b mut Vec<&'a ContactManifold<N>>);
}

Trait implemented algorithms that compute contact points, normals and penetration depths.

Required Methods

fn update(
    &mut self,
    dispatcher: &dyn ContactDispatcher<N>,
    ida: usize,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    idb: usize,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    prediction: &ContactPrediction<N>,
    id_alloc: &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.

Implementors

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

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

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

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

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

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