Expand description

Queries dedicated to specific pairs of shapes.

Re-exports

pub use super::closest_points::*;
pub use super::contact::*;
pub use super::point::*;

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.

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.