Function rhusics_core::tree_collide
source · pub fn tree_collide<C, I, P, T, B, Y, D>(
data: &C,
tree: &mut DynamicBoundingVolumeTree<D>,
broad: &mut Option<Box<dyn BroadPhase<(usize, D)>>>,
narrow: &Option<Box<dyn NarrowPhase<P, T, B, Y>>>
) -> Vec<ContactEvent<I, P::Point>>where
C: CollisionData<I, P, T, B, Y, D>,
P: Primitive,
<P::Point as EuclideanSpace>::Diff: Debug,
I: Copy + Debug + Hash + Eq,
D: HasBound<Bound = B> + GetId<I> + TreeValue<Bound = B>,
B: Bound<Point = P::Point> + Clone + SurfaceArea<Scalar = <P::Point as EuclideanSpace>::Scalar> + Contains<B> + Union<B, Output = B> + Discrete<B>,
Expand description
Do collision detection using a DBVT
Type parameters:
C
: Collision dataI
: Id, returned byGetId
onD
, primary id for a colliderP
: PrimitiveT
: TransformB
: Bounding volumeY
: Collider, seeCollider
for more informationD
:TreeValue
in DBVT