Struct oxygengine_physics_2d::prelude::ncollide2d::pipeline::CollisionWorld
source · pub struct CollisionWorld<N, T>where
N: RealField + Copy,{
pub objects: CollisionObjectSlab<N, T>,
pub broad_phase: Box<dyn BroadPhase<N, AABB<N>, CollisionObjectSlabHandle>, Global>,
pub narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>,
pub toi_dispatcher: Box<dyn TOIDispatcher<N>, Global>,
pub interactions: InteractionGraph<N, CollisionObjectSlabHandle>,
pub pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>, Global>>,
}
Expand description
A world that handles collision objects.
Fields§
§objects: CollisionObjectSlab<N, T>
The set of objects on this collision world.
broad_phase: Box<dyn BroadPhase<N, AABB<N>, CollisionObjectSlabHandle>, Global>
The broad phase used by this collision world.
narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>
The narrow-phase used by this collision world.
toi_dispatcher: Box<dyn TOIDispatcher<N>, Global>
The Time of Impact dispatcher used.
interactions: InteractionGraph<N, CollisionObjectSlabHandle>
The graph of interactions detected so far.
pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>, Global>>
A user-defined broad-phase pair filter.
Implementations§
source§impl<N, T> CollisionWorld<N, T>where
N: RealField + Copy,
impl<N, T> CollisionWorld<N, T>where N: RealField + Copy,
sourcepub fn new(margin: N) -> CollisionWorld<N, T>
pub fn new(margin: N) -> CollisionWorld<N, T>
Creates a new collision world.
sourcepub fn add(
&mut self,
position: Isometry<N, Unit<Complex<N>>, 2>,
shape: ShapeHandle<N>,
collision_groups: CollisionGroups,
query_type: GeometricQueryType<N>,
data: T
) -> (CollisionObjectSlabHandle, &mut CollisionObject<N, T>)
pub fn add( &mut self, position: Isometry<N, Unit<Complex<N>>, 2>, shape: ShapeHandle<N>, collision_groups: CollisionGroups, query_type: GeometricQueryType<N>, data: T ) -> (CollisionObjectSlabHandle, &mut CollisionObject<N, T>)
Adds a collision object to the world.
sourcepub fn update(&mut self)
pub fn update(&mut self)
Updates the collision world.
This executes the whole collision detection pipeline:
- Clears the event pools.
- Executes the broad phase first.
- Executes the narrow phase.
sourcepub fn clear_events(&mut self)
pub fn clear_events(&mut self)
Empty the contact and proximity event pools.
sourcepub fn remove(&mut self, handles: &[CollisionObjectSlabHandle])
pub fn remove(&mut self, handles: &[CollisionObjectSlabHandle])
Removed the specified set of collision objects from the world.
Panics of any handle is invalid, or if the list contains duplicates.
sourcepub fn set_position(
&mut self,
handle: CollisionObjectSlabHandle,
pos: Isometry<N, Unit<Complex<N>>, 2>
)
👎Deprecated: Call directly the method .set_position
on the collision object.
pub fn set_position( &mut self, handle: CollisionObjectSlabHandle, pos: Isometry<N, Unit<Complex<N>>, 2> )
.set_position
on the collision object.Sets the position of the collision object attached to the specified object.
sourcepub fn set_query_type(
&mut self,
handle: CollisionObjectSlabHandle,
query_type: GeometricQueryType<N>
)
👎Deprecated: Call directly the method .set_query_type
on the collision object.
pub fn set_query_type( &mut self, handle: CollisionObjectSlabHandle, query_type: GeometricQueryType<N> )
.set_query_type
on the collision object.Sets the GeometricQueryType
of the collision object.
sourcepub fn set_shape(
&mut self,
handle: CollisionObjectSlabHandle,
shape: ShapeHandle<N>
)
👎Deprecated: Call directly the method .set_shape
on the collision object.
pub fn set_shape( &mut self, handle: CollisionObjectSlabHandle, shape: ShapeHandle<N> )
.set_shape
on the collision object.Sets the shape of the given collision object.
sourcepub fn set_deformations(
&mut self,
handle: CollisionObjectSlabHandle,
coords: &[N]
)
👎Deprecated: Call directly the method .set_deformations
on the collision object.
pub fn set_deformations( &mut self, handle: CollisionObjectSlabHandle, coords: &[N] )
.set_deformations
on the collision object.Apply the given deformations to the specified object.
sourcepub fn set_broad_phase_pair_filter<F>(&mut self, filter: Option<F>)where
F: BroadPhasePairFilter<N, CollisionObjectSlab<N, T>> + 'static,
pub fn set_broad_phase_pair_filter<F>(&mut self, filter: Option<F>)where F: BroadPhasePairFilter<N, CollisionObjectSlab<N, T>> + 'static,
Sets the user-defined filter that tells if a potential collision pair should be ignored or not.
The proximity filter returns false
for a given pair of collision objects if they should
be ignored by the narrow phase. Keep in mind that modifying the proximity filter will have
a non-trivial overhead during the next update as it will force re-detection of all
collision pairs.
sourcepub fn perform_broad_phase(&mut self)
pub fn perform_broad_phase(&mut self)
Executes the broad phase of the collision detection pipeline.
sourcepub fn perform_narrow_phase(&mut self)
pub fn perform_narrow_phase(&mut self)
Executes the narrow phase of the collision detection pipeline.
sourcepub fn broad_phase_aabb(
&self,
handle: CollisionObjectSlabHandle
) -> Option<&AABB<N>>
pub fn broad_phase_aabb( &self, handle: CollisionObjectSlabHandle ) -> Option<&AABB<N>>
The broad-phase aabb for the given collision object.
sourcepub fn collision_objects(&self) -> CollisionObjects<'_, N, T> ⓘ
pub fn collision_objects(&self) -> CollisionObjects<'_, N, T> ⓘ
Iterates through all collision objects.
sourcepub fn collision_object(
&self,
handle: CollisionObjectSlabHandle
) -> Option<&CollisionObject<N, T>>
pub fn collision_object( &self, handle: CollisionObjectSlabHandle ) -> Option<&CollisionObject<N, T>>
Returns a reference to the collision object identified by its handle.
sourcepub fn get_mut(
&mut self,
handle: CollisionObjectSlabHandle
) -> Option<&mut CollisionObject<N, T>>
pub fn get_mut( &mut self, handle: CollisionObjectSlabHandle ) -> Option<&mut CollisionObject<N, T>>
Returns a mutable reference to the collision object identified by its handle.
sourcepub fn collision_object_pair_mut(
&mut self,
handle1: CollisionObjectSlabHandle,
handle2: CollisionObjectSlabHandle
) -> (Option<&mut CollisionObject<N, T>>, Option<&mut CollisionObject<N, T>>)
pub fn collision_object_pair_mut( &mut self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle ) -> (Option<&mut CollisionObject<N, T>>, Option<&mut CollisionObject<N, T>>)
Returns a mutable reference to a pair collision object identified by their handles.
Panics if both handles are equal.
sourcepub fn set_collision_groups(
&mut self,
handle: CollisionObjectSlabHandle,
groups: CollisionGroups
)
👎Deprecated: Call directly the method .set_collision_groups
on the collision object.
pub fn set_collision_groups( &mut self, handle: CollisionObjectSlabHandle, groups: CollisionGroups )
.set_collision_groups
on the collision object.Sets the collision groups of the given collision object.
sourcepub fn sweep_test<'a>(
&'a self,
shape: &'a (dyn Shape<N> + 'static),
isometry: &'a Isometry<N, Unit<Complex<N>>, 2>,
direction: &'a Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>,
maximum_distance: N,
groups: &'a CollisionGroups
) -> impl Iterator<Item = (CollisionObjectSlabHandle, TOI<N>)> + 'a
pub fn sweep_test<'a>( &'a self, shape: &'a (dyn Shape<N> + 'static), isometry: &'a Isometry<N, Unit<Complex<N>>, 2>, direction: &'a Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, maximum_distance: N, groups: &'a CollisionGroups ) -> impl Iterator<Item = (CollisionObjectSlabHandle, TOI<N>)> + 'a
Returns all objects in the collision world that intersect with the shape
transformed by isometry
along direction
until maximum_distance
is
reached. The objects are not returned in any particular order. You may
use the toi
returned for each object to determine the closest object.
sourcepub fn interferences_with_ray<'a, 'b>(
&'a self,
ray: &'b Ray<N>,
max_toi: N,
groups: &'b CollisionGroups
) -> InterferencesWithRay<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
pub fn interferences_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups ) -> InterferencesWithRay<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
Computes the interferences between every rigid bodies on this world and a ray.
sourcepub fn first_interference_with_ray<'a, 'b>(
&'a self,
ray: &'b Ray<N>,
max_toi: N,
groups: &'b CollisionGroups
) -> Option<FirstInterferenceWithRay<'a, N, CollisionObjectSlab<N, T>>>
pub fn first_interference_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups ) -> Option<FirstInterferenceWithRay<'a, N, CollisionObjectSlab<N, T>>>
Computes the first interference with ray
and
sourcepub fn interferences_with_point<'a, 'b>(
&'a self,
point: &'b OPoint<N, Const<2>>,
groups: &'b CollisionGroups
) -> InterferencesWithPoint<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
pub fn interferences_with_point<'a, 'b>( &'a self, point: &'b OPoint<N, Const<2>>, groups: &'b CollisionGroups ) -> InterferencesWithPoint<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
Computes the interferences between every rigid bodies of a given broad phase, and a point.
sourcepub fn interferences_with_aabb<'a, 'b>(
&'a self,
aabb: &'b AABB<N>,
groups: &'b CollisionGroups
) -> InterferencesWithAABB<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
pub fn interferences_with_aabb<'a, 'b>( &'a self, aabb: &'b AABB<N>, groups: &'b CollisionGroups ) -> InterferencesWithAABB<'a, 'b, N, CollisionObjectSlab<N, T>> ⓘ
Computes the interferences between every rigid bodies of a given broad phase, and a aabb.
sourcepub fn set_narrow_phase(
&mut self,
narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>
)
pub fn set_narrow_phase( &mut self, narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle> )
Customize the selection of narrowphase collision detection algorithms
sourcepub fn interaction_pairs(
&self,
effective_only: bool
) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>
pub fn interaction_pairs( &self, effective_only: bool ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>
All the potential interactions pairs.
Refer to the official user guide for details.
sourcepub fn contact_pairs(
&self,
effective_only: bool
) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>
pub fn contact_pairs( &self, effective_only: bool ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>
All the potential contact pairs.
Refer to the official user guide for details.
sourcepub fn proximity_pairs(
&self,
effective_only: bool
) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>
pub fn proximity_pairs( &self, effective_only: bool ) -> impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>
All the potential proximity pairs.
Refer to the official user guide for details.
sourcepub fn interaction_pair(
&self,
handle1: CollisionObjectSlabHandle,
handle2: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>
pub fn interaction_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>
The potential interaction pair between the two specified collision objects.
Refer to the official user guide for details.
sourcepub fn contact_pair(
&self,
handle1: CollisionObjectSlabHandle,
handle2: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>
pub fn contact_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>
The potential contact pair between the two specified collision objects.
Refer to the official user guide for details.
sourcepub fn proximity_pair(
&self,
handle1: CollisionObjectSlabHandle,
handle2: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>
pub fn proximity_pair( &self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle, effective_only: bool ) -> Option<(CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>
The potential proximity pair between the two specified collision objects.
Refer to the official user guide for details.
sourcepub fn interactions_with(
&self,
handle: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>>
pub fn interactions_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Interaction<N>)>>
All the interaction pairs involving the specified collision object.
Refer to the official user guide for details.
sourcepub fn interactions_with_mut(
&mut self,
handle: CollisionObjectSlabHandle
) -> Option<(&mut NarrowPhase<N, CollisionObjectSlabHandle>, impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, EdgeIndex<usize>, &mut Interaction<N>)>)>
pub fn interactions_with_mut( &mut self, handle: CollisionObjectSlabHandle ) -> Option<(&mut NarrowPhase<N, CollisionObjectSlabHandle>, impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, EdgeIndex<usize>, &mut Interaction<N>)>)>
All the mutable interactions pairs involving the specified collision object.
This also returns a mutable reference to the narrow-phase which is necessary for updating the interaction if needed. For interactions between a collision object and itself, only one mutable reference to the collision object is returned.
sourcepub fn proximities_with(
&self,
handle: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>>
pub fn proximities_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &(dyn ProximityDetector<N> + 'static), Proximity)>>
All the proximity pairs involving the specified collision object.
Refer to the official user guide for details.
sourcepub fn contacts_with(
&self,
handle: CollisionObjectSlabHandle,
effective_only: bool
) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>>
pub fn contacts_with( &self, handle: CollisionObjectSlabHandle, effective_only: bool ) -> Option<impl Iterator<Item = (CollisionObjectSlabHandle, CollisionObjectSlabHandle, &Box<dyn ContactManifoldGenerator<N>, Global>, &ContactManifold<N>)>>
All the contact pairs involving the specified collision object.
Refer to the official user guide for details.
sourcepub fn collision_objects_interacting_with<'a>(
&'a self,
handle: CollisionObjectSlabHandle
) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
pub fn collision_objects_interacting_with<'a>( &'a self, handle: CollisionObjectSlabHandle ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
All the collision object handles of collision objects interacting with the specified collision object.
Refer to the official user guide for details.
sourcepub fn collision_objects_in_contact_with<'a>(
&'a self,
handle: CollisionObjectSlabHandle
) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
pub fn collision_objects_in_contact_with<'a>( &'a self, handle: CollisionObjectSlabHandle ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
All the collision object handles of collision objects in potential contact with the specified collision object.
Refer to the official user guide for details.
sourcepub fn collision_objects_in_proximity_of<'a>(
&'a self,
handle: CollisionObjectSlabHandle
) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
pub fn collision_objects_in_proximity_of<'a>( &'a self, handle: CollisionObjectSlabHandle ) -> Option<impl Iterator<Item = CollisionObjectSlabHandle> + 'a>
All the collision object handles of collision objects in potential proximity of with the specified collision object.
Refer to the official user guide for details.
sourcepub fn contact_events(
&self
) -> &EventPool<ContactEvent<CollisionObjectSlabHandle>>
pub fn contact_events( &self ) -> &EventPool<ContactEvent<CollisionObjectSlabHandle>>
The contact events pool.
sourcepub fn proximity_events(
&self
) -> &EventPool<ProximityEvent<CollisionObjectSlabHandle>>
pub fn proximity_events( &self ) -> &EventPool<ProximityEvent<CollisionObjectSlabHandle>>
The proximity events pool.
Auto Trait Implementations§
impl<N, T> !RefUnwindSafe for CollisionWorld<N, T>
impl<N, T> Send for CollisionWorld<N, T>where T: Send,
impl<N, T> Sync for CollisionWorld<N, T>where T: Sync,
impl<N, T> Unpin for CollisionWorld<N, T>where N: Unpin, T: Unpin,
impl<N, T> !UnwindSafe for CollisionWorld<N, T>
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