Struct GpuNarrowphase 

pub struct GpuNarrowphase {
    pub max_iterations: usize,
    pub stats: CollisionKernelStats,
}

GPU narrowphase kernel performing parallel GJK distance queries.

Each pair from the broadphase is resolved with a dedicated GJK iteration to compute exact contact information.

Fields

max_iterations: usize

Maximum GJK iterations before declaring intersection.

stats: CollisionKernelStats

Stats from the most recent dispatch.

Implementations

impl GpuNarrowphase

pub fn new(max_iterations: usize) -> Self

Create a new GpuNarrowphase with a given iteration limit.

pub fn gjk_distance(&self, a: &AabbGpu, b: &AabbGpu) -> GjkResult

Run a GJK distance query for two AabbGpu shapes.

pub fn sat_depth(&self, a: &AabbGpu, b: &AabbGpu) -> Option<(f32, [f32; 3])>

Compute penetration depth from an overlapping AABB pair using SAT.

Returns None if the shapes do not overlap.

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

Dispatch the narrowphase over a list of broadphase pairs.

Returns full ContactResult list with GJK/SAT contact data.

Trait Implementations

impl Debug for GpuNarrowphase

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

Formats the value using the given formatter.

impl Default for GpuNarrowphase

fn default() -> GpuNarrowphase

Returns the “default value” for a type.