Struct CollisionDetector 

pub struct CollisionDetector;

Narrow-phase collision detection.

Implementations

impl CollisionDetector

pub fn sphere_sphere( pos_a: Vec3, ra: f32, ha: RigidBodyHandle, pos_b: Vec3, rb: f32, hb: RigidBodyHandle, ) -> Option<ContactManifold3D>

Sphere vs sphere.

pub fn sphere_box( sphere_pos: Vec3, sphere_r: f32, hs: RigidBodyHandle, box_pos: Vec3, box_rot: Quat, box_half: Vec3, hb: RigidBodyHandle, ) -> Option<ContactManifold3D>

Sphere vs axis-aligned box (fallback uses sphere-point clamping).

pub fn box_box( pos_a: Vec3, rot_a: Quat, half_a: Vec3, ha: RigidBodyHandle, pos_b: Vec3, rot_b: Quat, half_b: Vec3, hb: RigidBodyHandle, ) -> Option<ContactManifold3D>

Box vs box using SAT (Separating Axis Theorem).

pub fn capsule_capsule( pos_a: Vec3, axis_a: Vec3, r_a: f32, hh_a: f32, ha: RigidBodyHandle, pos_b: Vec3, axis_b: Vec3, r_b: f32, hh_b: f32, hb: RigidBodyHandle, ) -> Option<ContactManifold3D>

Capsule vs capsule.

pub fn detect( body_a: &RigidBody, ha: RigidBodyHandle, body_b: &RigidBody, hb: RigidBodyHandle, ) -> Option<ContactManifold3D>

Dispatch collision detection based on shape types.