Struct ncollide2d::narrow_phase::InteractionGraph

pub struct InteractionGraph<N: RealField> { /* fields omitted */ }

A graph where nodes are collision objects and edges are contact or proximity algorithms.

Methods

impl<N: RealField> InteractionGraph<N>

pub fn new() -> Self

Creates a new empty collection of collision objects.

pub fn raw_graph(
    &self
) -> &UnGraph<CollisionObjectHandle, Interaction<N>, usize>

The raw underlying graph from the petgraph crate.

pub fn into_inner(self) -> UnGraph<CollisionObjectHandle, Interaction<N>, usize>

Convents this interaction graph into the raw graph from the petgraph crate.

pub fn insert(&mut self, handle: CollisionObjectHandle) -> InteractionGraphIndex

Inserts a new collision object into this collection and returns the corresponding handle.

pub fn remove(
    &mut self,
    id: InteractionGraphIndex
) -> Option<CollisionObjectHandle>

Removes from this collection the collision object identified by the given handle.

The removed collision object structure is returned.

pub fn interaction_pairs(
    &self,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &Interaction<N>)>

All the interactions pairs on this graph.

Refer to the official user guide for details.

pub fn contact_pairs(
    &self,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>

All the contact pairs on this graph.

Refer to the official user guide for details.

pub fn proximity_pairs(
    &self,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &ProximityAlgorithm<N>)>

All the proximity pairs on this graph.

Refer to the official user guide for details.

pub fn interaction_pair(
    &self,
    id1: InteractionGraphIndex,
    id2: InteractionGraphIndex,
    effective_only: bool
) -> Option<(CollisionObjectHandle, CollisionObjectHandle, &Interaction<N>)>

The interaction between the two collision objects identified by their graph index.

Refer to the official user guide for details.

pub fn contact_pair(
    &self,
    id1: InteractionGraphIndex,
    id2: InteractionGraphIndex,
    effective_only: bool
) -> Option<(CollisionObjectHandle, CollisionObjectHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>

The contact pair between the two collision objects identified by their graph index.

Refer to the official user guide for details.

pub fn proximity_pair(
    &self,
    id1: InteractionGraphIndex,
    id2: InteractionGraphIndex,
    effective_only: bool
) -> Option<(CollisionObjectHandle, CollisionObjectHandle, &ProximityAlgorithm<N>)>

The proximity pair between the two collision objects identified by their graph index.

Refer to the official user guide for details.

pub fn interactions_with(
    &self,
    id: InteractionGraphIndex,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &Interaction<N>)>

All the interaction involving the collision object with graph index id.

Refer to the official user guide for details.

pub fn proximities_with(
    &self,
    handle: InteractionGraphIndex,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &ProximityAlgorithm<N>)>

All the proximity pairs involving the collision object with graph index id.

Refer to the official user guide for details.

pub fn contacts_with(
    &self,
    handle: InteractionGraphIndex,
    effective_only: bool
) -> impl Iterator<Item = (CollisionObjectHandle, CollisionObjectHandle, &ContactAlgorithm<N>, &ContactManifold<N>)>

All the contact pairs involving the collision object with graph index id.

Refer to the official user guide for details.

pub fn collision_objects_interacting_with<'a>(
    &'a self,
    id: InteractionGraphIndex
) -> impl Iterator<Item = CollisionObjectHandle> + 'a

All the collision object handles of collision objects interacting with the collision object with graph index id.

Refer to the official user guide for details.

pub fn collision_objects_in_contact_with<'a>(
    &'a self,
    id: InteractionGraphIndex
) -> impl Iterator<Item = CollisionObjectHandle> + 'a

All the collision object handles of collision objects in contact with the collision object with graph index id.

Refer to the official user guide for details.

pub fn collision_objects_in_proximity_of<'a>(
    &'a self,
    id: InteractionGraphIndex
) -> impl Iterator<Item = CollisionObjectHandle> + 'a

All the collision object handles of collision objects in proximity of with the collision object with graph index id.

Refer to the official user guide for details.