Expand description
Queries dedicated to specific pairs of shapes.
Re-exports
Structs
A visitor for computing the distance between a composite shape and a shape.
A contact manifold between two shapes.
A serializable workspace used by some contact-manifolds computation algorithms.
A visitor for checking if a composite-shape and a shape intersect.
A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
A visitor used to determine the non-linear time of impact between a composite shape and another shape.
A Ray.
A visitor for casting a ray on a composite shape.
A visitor for casting a ray on a composite shape.
Structure containing the result of a successful ray cast.
A structure representing 4 rays in an SIMD SoA fashion.
The result of a time-of-impact (TOI) computation.
A visitor used to find the time-of-impact between a composite shape and a shape.
A single contact between two shape.
Enums
Enum specifying the behavior of TOI computation when there is a penetration at the starting time.
The status of the time-of-impact computation algorithm.
Enum representing workspace data of a specific type.
Traits
Traits of objects which can be transformed and tested for intersection with a ray.
Data from a ContactManifoldsWorkspace
.
Functions
Computes the segment given by the intersection of a line and an AABB.
Cuts a polygon with the given half-space.
Projects two segments on one another and compute their intersection.
Computes the contact manifold between two balls.
Computes the contact manifold between two balls given as Shape
trait-objects.
Computes the contact manifold between two capsules.
Computes the contact manifold between two capsules given as Shape
trait-objects.
Computes the contact manifold between a convex shape and a ball.
Computes the contact manifold between a convex shape and a ball, both represented as a Shape
trait-object.
Computes the contact manifold between two cuboids.
Computes the contact manifold between two cuboids represented as Shape
trait-objects.
Computes the contact manifold between a cuboid and a triangle.
Computes the contact manifold between a cuboid and a triangle represented as Shape
trait-objects.
Computes the contact manifold between a convex shape and a ball.
Computes the contact manifold between a convex shape and a ball, both represented as a Shape
trait-object.
Computes the contact manifold between two convex shapes implementing the PolygonalSupportMap
trait.
Computes the contact manifold between two convex shapes implementing the PolygonalSupportMap
trait, both represented as Shape
trait-objects.
Computes the contact manifolds between two composite shapes.
Computes the contact manifolds between a composite shape and an abstract shape.
Computes the contact manifold between an heightfield and a composite shape.
Computes the contact manifold between an heigthfield and an abstract shape.
Computes the contact manifold between an heightfield and a shape, both represented as Shape
trait-objects.
Computes the contact manifold between a triangle-mesh and a shape.
Computes the contact manifold between a triangle-mesh an a shape, both represented as Shape
trait-objects.
Computes the minimum distance separating two shapes.
Distance between balls.
Distance between a ball and a convex polyhedron.
Smallest distance between a composite shape and any other shape.
Distance between a convex polyhedron and a ball.
Distance between two cuboids.
Distance between a halfspace and a support-mapped shape.
Distance between two segments.
Smallest distance between a shape and a composite shape.
Distance between a support-mapped shape and a halfspace.
Distance between support-mapped shapes.
Distance between support-mapped shapes.
Tests whether two shapes are intersecting.
Test if a segment intersects an AABB.
Tests if a triangle intersects an AABB.
Intersection test between balls.
Intersection test between a ball and a shape implementing the PointQuery
trait.
Intersection test between a composite shape (Mesh
, Compound
) and any other shape.
Intersection test between cuboids.
Test if a segment intersects a cuboid.
Tests if a triangle intersects an cuboid.
Intersection test between a halfspace and a support-mapped shape (Cuboid, ConvexHull, etc.)
Intersection test between a shape implementing the PointQuery
trait and a ball.
Test if a segment intersects a cuboid.
Proximity between a shape and a composite (Mesh
, Compound
) shape.
Intersection test between a support-mapped shape (Cuboid, ConvexHull, etc.) and a halfspace.
Intersection test between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
Intersection test between support-mapped shapes (Cuboid
, ConvexHull
, etc.)
Tests if a triangle intersects a cuboid.
Computes the toi of an unbounded line with a halfspace described by its center and normal.
Cast a ray on a shape using the GJK algorithm.
Computes the intersection between a triangle and a ray.
Computes the smallest time of impact of two shapes under translational an rotational movements.
Time Of Impact of a composite shape with any other shape, under a rigid motion (translation + rotation).
Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).
Compute the time of first impact between two support-map shapes following a nonlinear (with translations and rotations) motion.
Computes the time of impact of a ray on a ball.
Computes the toi of a ray with a halfspace described by its center and normal.
Computes the smallest time when two shapes under translational movement are separated by a
distance smaller or equal to distance
.
Time Of Impact of two balls under translational movement.
Time Of Impact of a composite shape with any other shape, under translational movement.
Time Of Impact of a halfspace with a support-mapped shape under translational movement.
Time Of Impact of any shape with a composite shape, under translational movement.
Time Of Impact of a halfspace with a support-mapped shape under translational movement.
Time of impacts between two support-mapped shapes under translational movement.