Enum parry3d::query::details::NonlinearTOIMode

pub enum NonlinearTOIMode {
    StopAtPenetration,
    DirectionalTOI {
        sum_linear_thickness: Real,
        max_angular_thickness: Real,
    },
}

Enum specifying the behavior of TOI computation when there is a penetration at the starting time.

Variants

StopAtPenetration

Stop TOI computation as soon as there is a penetration.

DirectionalTOI

Fields

sum_linear_thickness: Real

The sum of the Shape::ccd_thickness of both shapes involved in the TOI computation.

max_angular_thickness: Real

The max of the Shape::ccd_angular_thickness of both shapes involved in the TOI computation.

When there is a penetration, don’t stop the TOI search if the relative velocity at the penetration points is negative (i.e. if the points are separating).

Implementations

impl NonlinearTOIMode

pub fn directional_toi<S1, S2>(shape1: &S1, shape2: &S2) -> Self where
    S1: ?Sized + Shape,
    S2: ?Sized + Shape, 

Initializes a directional TOI mode.

With the “directional” TOI mode, the nonlinear TOI computation won’t immediately stop if the shapes are already intersecting at t = 0. Instead, it will search for the first time where a contact between the shapes would result in a deeper penetration (with risk of tunnelling). This effectively checks the relative velocity of the shapes at their point of impact.

Trait Implementations

impl Clone for NonlinearTOIMode

fn clone(&self) -> NonlinearTOIMode

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NonlinearTOIMode

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

Formats the value using the given formatter.

impl Copy for NonlinearTOIMode