[−][src]Trait parry2d::query::PersistentQueryDispatcher

pub trait PersistentQueryDispatcher<ManifoldData, ContactData>: QueryDispatcher {
    fn contact_manifolds(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        prediction: Real, 
        manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>, 
        workspace: &mut Option<ContactManifoldsWorkspace>
    ) -> Result<(), Unsupported>;

    fn contact_manifold_convex_convex(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        prediction: Real, 
        manifold: &mut ContactManifold<ManifoldData, ContactData>
    ) -> Result<(), Unsupported>;
}

A query dispatcher for queries relying on spatial coherence, including contact-manifold computation.

Required methods

fn contact_manifolds(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape,
    prediction: Real,
    manifolds: &mut Vec<ContactManifold<ManifoldData, ContactData>>,
    workspace: &mut Option<ContactManifoldsWorkspace>
) -> Result<(), Unsupported>[src]

Compute all the contacts between two shapes.

The output is written into manifolds and context. Both can persist between multiple calls to contacts by re-using the result of the previous call to contacts. This persistence can significantly improve collision detection performances by allowing the underlying algorithms to exploid spatial and temporal coherence.

fn contact_manifold_convex_convex(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape,
    prediction: Real,
    manifold: &mut ContactManifold<ManifoldData, ContactData>
) -> Result<(), Unsupported>[src]

Computes the contact-manifold between two convex shapes.

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Implementors

impl<ManifoldData, ContactData> PersistentQueryDispatcher<ManifoldData, ContactData> for DefaultQueryDispatcher where
    ManifoldData: Default + Clone,
    ContactData: Default + Copy, [src]

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