Trait ncollide3d::pipeline::narrow_phase::ContactManifoldGenerator

pub trait ContactManifoldGenerator<N: RealField>: Any + Send + Sync {
    fn generate_contacts(
        &mut self, 
        dispatcher: &dyn ContactDispatcher<N>, 
        ma: &Isometry<N>, 
        a: &dyn Shape<N>, 
        proc1: Option<&dyn ContactPreprocessor<N>>, 
        mb: &Isometry<N>, 
        b: &dyn Shape<N>, 
        proc2: Option<&dyn ContactPreprocessor<N>>, 
        prediction: &ContactPrediction<N>, 
        manifold: &mut ContactManifold<N>
    ) -> bool;

    fn init_manifold(&self) -> ContactManifold<N> { ... }
}

An algorithm to compute contact points, normals and penetration depths between two specific objects.

Required methods

fn generate_contacts(
    &mut self,
    dispatcher: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

Runs the collision detection on two objects. It is assumed that the same collision detector (the same structure) is always used with the same pair of objects.

Returns false if persisting this algorithm for re-use is unlikely to improve performance, e.g. due to the objects being distant. Note that if the ContactManifoldGenerator would likely be immediately reconstructed in the next time-step, dropping it is sub-optimal regardless.

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Provided methods

fn init_manifold(&self) -> ContactManifold<N>

Generate an empty contact manifold configured as required by this contact manifold generator.

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Implementors

impl<N: RealField> ContactManifoldGenerator<N> for BallBallManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for BallConvexPolyhedronManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    m1: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for CapsuleCapsuleManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    d: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for CapsuleShapeManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    d: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for CompositeShapeCompositeShapeManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    d: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for CompositeShapeShapeManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    d: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

fn init_manifold(&self) -> ContactManifold<N>

impl<N: RealField> ContactManifoldGenerator<N> for ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for HeightFieldShapeManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    d: &dyn ContactDispatcher<N>,
    ma: &Isometry<N>,
    a: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    mb: &Isometry<N>,
    b: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for PlaneBallManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    m1: &Isometry<N>,
    g1: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N>,
    g2: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for PlaneConvexPolyhedronManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    m1: &Isometry<N>,
    g1: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N>,
    g2: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

impl<N: RealField> ContactManifoldGenerator<N> for TriMeshTriMeshManifoldGenerator<N>

fn generate_contacts(
    &mut self,
    _: &dyn ContactDispatcher<N>,
    m1: &Isometry<N>,
    g1: &dyn Shape<N>,
    proc1: Option<&dyn ContactPreprocessor<N>>,
    m2: &Isometry<N>,
    g2: &dyn Shape<N>,
    proc2: Option<&dyn ContactPreprocessor<N>>,
    prediction: &ContactPrediction<N>,
    manifold: &mut ContactManifold<N>
) -> bool

fn init_manifold(&self) -> ContactManifold<N>

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