Struct NarrowphaseGpuKernel 

pub struct NarrowphaseGpuKernel;

Narrowphase collision detection kernel (CPU mock with simplified GJK/SAT).

For AABB vs AABB pairs the kernel uses SAT (Separating Axis Theorem) which is exact. For more general shapes a GJK iteration would be used.

Implementations

impl NarrowphaseGpuKernel

pub fn new() -> Self

Create a new NarrowphaseGpuKernel.

pub fn test_aabb_pair( &self, prim_a: u32, aabb_a: &AabbGpu, prim_b: u32, aabb_b: &AabbGpu, ) -> Option<ContactResult>

Test a single AABB pair using SAT; returns Some(ContactResult) on contact, None otherwise.

pub fn gjk_intersect(&self, a: &AabbGpu, b: &AabbGpu) -> (bool, f32)

Run GJK for two AABB shapes (CPU mock).

Returns true if the shapes intersect, along with the final simplex distance (0.0 on intersection).

pub fn dispatch( &self, pairs: &[CollisionPair], aabbs: &[AabbGpu], ) -> Vec<ContactResult>

Dispatch narrowphase over a list of broadphase pairs and AABBs.

Trait Implementations

impl Debug for NarrowphaseGpuKernel

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for NarrowphaseGpuKernel

fn default() -> NarrowphaseGpuKernel

Returns the “default value” for a type.