Struct rapier3d::geometry::NarrowPhase
source · [−]pub struct NarrowPhase { /* private fields */ }
Expand description
The narrow-phase responsible for computing precise contact information between colliders.
Implementations
sourceimpl NarrowPhase
impl NarrowPhase
sourcepub fn with_query_dispatcher<D>(d: D) -> Self where
D: 'static + PersistentQueryDispatcher<ContactManifoldData, ContactData>,
pub fn with_query_dispatcher<D>(d: D) -> Self where
D: 'static + PersistentQueryDispatcher<ContactManifoldData, ContactData>,
Creates a new empty narrow-phase with a custom query dispatcher.
sourcepub fn query_dispatcher(
&self
) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>
pub fn query_dispatcher(
&self
) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>
The query dispatcher used by this narrow-phase to select the right collision-detection algorithms depending of the shape types.
sourcepub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair>
pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair>
The contact graph containing all contact pairs and their contact information.
sourcepub fn intersection_graph(
&self
) -> &InteractionGraph<ColliderHandle, IntersectionPair>
pub fn intersection_graph(
&self
) -> &InteractionGraph<ColliderHandle, IntersectionPair>
The intersection graph containing all intersection pairs and their intersection information.
sourcepub fn contacts_with_unknown_gen(
&self,
collider: u32
) -> impl Iterator<Item = &ContactPair>
pub fn contacts_with_unknown_gen(
&self,
collider: u32
) -> impl Iterator<Item = &ContactPair>
All the contacts involving the given collider.
It is strongly recommended to use the NarrowPhase::contacts_with
method instead. This
method can be used if the generation number of the collider handle isn’t known.
sourcepub fn contacts_with<'a>(
&self,
collider: ColliderHandle
) -> impl Iterator<Item = &ContactPair>
pub fn contacts_with<'a>(
&self,
collider: ColliderHandle
) -> impl Iterator<Item = &ContactPair>
All the contacts involving the given collider.
sourcepub fn intersections_with_unknown_gen(
&self,
collider: u32
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
pub fn intersections_with_unknown_gen(
&self,
collider: u32
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
All the intersections involving the given collider.
It is strongly recommended to use the NarrowPhase::intersections_with
method instead.
This method can be used if the generation number of the collider handle isn’t known.
sourcepub fn intersections_with(
&self,
collider: ColliderHandle
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
pub fn intersections_with(
&self,
collider: ColliderHandle
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
All the intersections involving the given collider.
sourcepub fn contact_pair_unknown_gen(
&self,
collider1: u32,
collider2: u32
) -> Option<&ContactPair>
pub fn contact_pair_unknown_gen(
&self,
collider1: u32,
collider2: u32
) -> Option<&ContactPair>
The contact pair involving two specific colliders.
It is strongly recommended to use the NarrowPhase::contact_pair
method instead. This
method can be used if the generation number of the collider handle isn’t known.
If this returns None
, there is no contact between the two colliders.
If this returns Some
, then there may be a contact between the two colliders. Check the
result [ContactPair::has_any_active_collider
] method to see if there is an actual contact.
sourcepub fn contact_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle
) -> Option<&ContactPair>
pub fn contact_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle
) -> Option<&ContactPair>
The contact pair involving two specific colliders.
If this returns None
, there is no contact between the two colliders.
If this returns Some
, then there may be a contact between the two colliders. Check the
result [ContactPair::has_any_active_collider
] method to see if there is an actual contact.
sourcepub fn intersection_pair_unknown_gen(
&self,
collider1: u32,
collider2: u32
) -> Option<bool>
pub fn intersection_pair_unknown_gen(
&self,
collider1: u32,
collider2: u32
) -> Option<bool>
The intersection pair involving two specific colliders.
It is strongly recommended to use the NarrowPhase::intersection_pair
method instead. This
method can be used if the generation number of the collider handle isn’t known.
If this returns None
or Some(false)
, then there is no intersection between the two colliders.
If this returns Some(true)
, then there may be an intersection between the two colliders.
sourcepub fn intersection_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle
) -> Option<bool>
pub fn intersection_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle
) -> Option<bool>
The intersection pair involving two specific colliders.
If this returns None
or Some(false)
, then there is no intersection between the two colliders.
If this returns Some(true)
, then there may be an intersection between the two colliders.
sourcepub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair>
pub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair>
All the contact pairs maintained by this narrow-phase.
sourcepub fn intersection_pairs(
&self
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
pub fn intersection_pairs(
&self
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_
All the intersection pairs maintained by this narrow-phase.
sourcepub fn handle_user_changes(
&mut self,
islands: Option<&mut IslandManager>,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
events: &dyn EventHandler
)
pub fn handle_user_changes(
&mut self,
islands: Option<&mut IslandManager>,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
events: &dyn EventHandler
)
Maintain the narrow-phase internal state by taking collider removal into account.
Trait Implementations
sourceimpl Clone for NarrowPhase
impl Clone for NarrowPhase
sourcefn clone(&self) -> NarrowPhase
fn clone(&self) -> NarrowPhase
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
Auto Trait Implementations
impl !RefUnwindSafe for NarrowPhase
impl Send for NarrowPhase
impl Sync for NarrowPhase
impl Unpin for NarrowPhase
impl !UnwindSafe for NarrowPhase
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more