[−][src]Trait parry3d::query::QueryDispatcher

pub trait QueryDispatcher: Send + Sync {
    fn intersection_test(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape
    ) -> Result<bool, Unsupported>;

    fn distance(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape
    ) -> Result<Real, Unsupported>;

    fn contact(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        prediction: Real
    ) -> Result<Option<Contact>, Unsupported>;

    fn closest_points(
        &self, 
        pos12: &Isometry<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        max_dist: Real
    ) -> Result<ClosestPoints, Unsupported>;

    fn time_of_impact(
        &self, 
        pos12: &Isometry<Real>, 
        vel12: &Vector<Real>, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        max_toi: Real, 
        target_distance: Real
    ) -> Result<Option<TOI>, Unsupported>;

    fn nonlinear_time_of_impact(
        &self, 
        motion12: &dyn RigidMotion, 
        g1: &dyn Shape, 
        g2: &dyn Shape, 
        max_toi: Real, 
        target_distance: Real
    ) -> Result<Option<TOI>, Unsupported>;

    fn chain<U: QueryDispatcher>(
        self, 
        other: U
    ) -> QueryDispatcherChain<Self, U>
    where
        Self: Sized,
    { ... }
}

Dispatcher for pairwise queries.

Custom implementations allow crates that support an abstract QueryDispatcher to handle custom shapes.

Required methods

fn intersection_test(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape
) -> Result<bool, Unsupported>[src]

Tests whether two shapes are intersecting.

fn distance(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape
) -> Result<Real, Unsupported>[src]

Computes the minimum distance separating two shapes.

Returns 0.0 if the objects are touching or penetrating.

fn contact(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape,
    prediction: Real
) -> Result<Option<Contact>, Unsupported>[src]

Computes one pair of contact points point between two shapes.

Returns None if the objects are separated by a distance greater than prediction.

fn closest_points(
    &self,
    pos12: &Isometry<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape,
    max_dist: Real
) -> Result<ClosestPoints, Unsupported>[src]

Computes the pair of closest points between two shapes.

Returns ClosestPoints::Disjoint if the objects are separated by a distance greater than max_dist.

fn time_of_impact(
    &self,
    pos12: &Isometry<Real>,
    vel12: &Vector<Real>,
    g1: &dyn Shape,
    g2: &dyn Shape,
    max_toi: Real,
    target_distance: Real
) -> Result<Option<TOI>, Unsupported>[src]

Computes the smallest time when two shapes under translational movement are separated by a distance smaller or equal to distance.

Returns 0.0 if the objects are touching or penetrating.

fn nonlinear_time_of_impact(
    &self,
    motion12: &dyn RigidMotion,
    g1: &dyn Shape,
    g2: &dyn Shape,
    max_toi: Real,
    target_distance: Real
) -> Result<Option<TOI>, Unsupported>[src]

Computes the smallest time of impact of two shapes under translational movement.

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Provided methods

fn chain<U: QueryDispatcher>(self, other: U) -> QueryDispatcherChain<Self, U> where
    Self: Sized, [src]

Construct a QueryDispatcher that falls back on other for cases not handled by self

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Implementors

impl QueryDispatcher for DefaultQueryDispatcher[src]

fn distance(
    &self,
    pos12: &Isometry<Real>,
    shape1: &dyn Shape,
    shape2: &dyn Shape
) -> Result<Real, Unsupported>[src]

Computes the minimum distance separating two shapes.

Returns 0.0 if the objects are touching or penetrating.

impl<T, U> QueryDispatcher for QueryDispatcherChain<T, U> where
    T: QueryDispatcher,
    U: QueryDispatcher, [src]

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