Struct ncollide3d::pipeline::world::CollisionWorld[−][src]

pub struct CollisionWorld<N: RealField, T> {
    pub objects: CollisionObjectSlab<N, T>,
    pub broad_phase: BroadPhaseObject<N>,
    pub narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>,
    pub toi_dispatcher: Box<dyn TOIDispatcher<N>>,
    pub interactions: InteractionGraph<N, CollisionObjectSlabHandle>,
    pub pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>>>,
}

A world that handles collision objects.

Fields

objects: CollisionObjectSlab<N, T>

The set of objects on this collision world.

broad_phase: BroadPhaseObject<N>

The broad phase used by this collision world.

narrow_phase: NarrowPhase<N, CollisionObjectSlabHandle>

The narrow-phase used by this collision world.

toi_dispatcher: Box<dyn TOIDispatcher<N>>

The Time of Impact dispatcher used.

interactions: InteractionGraph<N, CollisionObjectSlabHandle>

The graph of interactions detected so far.

pair_filters: Option<Box<dyn BroadPhasePairFilter<N, CollisionObjectSlab<N, T>>>>

A user-defined broad-phase pair filter.

Implementations

`impl<N: RealField, T> CollisionWorld<N, T>`[src]

`pub fn new(margin: N) -> CollisionWorld<N, T>`[src]

Creates a new collision world.

`pub fn add( &mut self, position: Isometry<N>, shape: ShapeHandle<N>, collision_groups: CollisionGroups, query_type: GeometricQueryType<N>, data: T ) -> (CollisionObjectSlabHandle, &mut CollisionObject<N, T>)`[src]

Adds a collision object to the world.

`pub fn update(&mut self)`[src]

Updates the collision world.

This executes the whole collision detection pipeline:

Clears the event pools.
Executes the broad phase first.
Executes the narrow phase.

`pub fn clear_events(&mut self)`[src]

Empty the contact and proximity event pools.

`pub fn remove(&mut self, handles: &[CollisionObjectSlabHandle])`[src]

Removed the specified set of collision objects from the world.

Panics of any handle is invalid, or if the list contains duplicates.

`pub fn set_position( &mut self, handle: CollisionObjectSlabHandle, pos: Isometry<N> )`[src]

👎 Deprecated:

Call directly the method .set_position on the collision object.

Sets the position of the collision object attached to the specified object.

`pub fn set_query_type( &mut self, handle: CollisionObjectSlabHandle, query_type: GeometricQueryType<N> )`[src]

👎 Deprecated:

Call directly the method .set_query_type on the collision object.

Sets the GeometricQueryType of the collision object.

`pub fn set_shape( &mut self, handle: CollisionObjectSlabHandle, shape: ShapeHandle<N> )`[src]

👎 Deprecated:

Call directly the method .set_shape on the collision object.

Sets the shape of the given collision object.

`pub fn set_deformations( &mut self, handle: CollisionObjectSlabHandle, coords: &[N] )`[src]

👎 Deprecated:

Call directly the method .set_deformations on the collision object.

Apply the given deformations to the specified object.

`pub fn set_broad_phase_pair_filter<F>(&mut self, filter: Option<F>) where F: BroadPhasePairFilter<N, CollisionObjectSlab<N, T>> + 'static,` [src]

Sets the user-defined filter that tells if a potential collision pair should be ignored or not.

The proximity filter returns false for a given pair of collision objects if they should be ignored by the narrow phase. Keep in mind that modifying the proximity filter will have a non-trivial overhead during the next update as it will force re-detection of all collision pairs.

`pub fn perform_broad_phase(&mut self)`[src]

Executes the broad phase of the collision detection pipeline.

`pub fn perform_narrow_phase(&mut self)`[src]

Executes the narrow phase of the collision detection pipeline.

`pub fn broad_phase_aabb( &self, handle: CollisionObjectSlabHandle ) -> Option<&AABB<N>>`[src]

The broad-phase aabb for the given collision object.

`pub fn collision_objects(&self) -> CollisionObjects<'_, N, T>ⓘNotable traits for CollisionObjects<'a, N, T> impl<'a, N: 'a + RealField, T: 'a> Iterator for CollisionObjects<'a, N, T> type Item = (CollisionObjectSlabHandle, &'a CollisionObject<N, T>);`[src]

Iterates through all collision objects.

`pub fn collision_object( &self, handle: CollisionObjectSlabHandle ) -> Option<&CollisionObject<N, T>>`[src]

Returns a reference to the collision object identified by its handle.

`pub fn get_mut( &mut self, handle: CollisionObjectSlabHandle ) -> Option<&mut CollisionObject<N, T>>`[src]

Returns a mutable reference to the collision object identified by its handle.

`pub fn collision_object_pair_mut( &mut self, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle ) -> (Option<&mut CollisionObject<N, T>>, Option<&mut CollisionObject<N, T>>)`[src]

Returns a mutable reference to a pair collision object identified by their handles.

Panics if both handles are equal.

`pub fn set_collision_groups( &mut self, handle: CollisionObjectSlabHandle, groups: CollisionGroups )`[src]

👎 Deprecated:

Call directly the method .set_collision_groups on the collision object.

Sets the collision groups of the given collision object.

`pub fn sweep_test<'a>( &'a self, shape: &'a dyn Shape<N>, isometry: &'a Isometry<N>, direction: &'a Unit<Vector<N>>, maximum_distance: N, groups: &'a CollisionGroups ) -> impl Iterator<Item = (CollisionObjectSlabHandle, TOI<N>)> + 'a`[src]

Returns all objects in the collision world that intersect with the shape transformed by isometry along direction until maximum_distance is reached. The objects are not returned in any particular order. You may use the toi returned for each object to determine the closest object.

pub fn interferences_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups ) -> InterferencesWithRay<'a, 'b, N, CollisionObjectSlab<N, T>>ⓘNotable traits for InterferencesWithRay<'a, 'b, N, Objects> impl<'a, 'b, N: RealField, Objects> Iterator for InterferencesWithRay<'a, 'b, N, Objects> where N: RealField, Objects: CollisionObjectSet<N>, type Item = (Objects::CollisionObjectHandle, &'a Objects::CollisionObject, RayIntersection<N>);[src]

Computes the interferences between every rigid bodies on this world and a ray.

`pub fn first_interference_with_ray<'a, 'b>( &'a self, ray: &'b Ray<N>, max_toi: N, groups: &'b CollisionGroups ) -> Option<FirstInterferenceWithRay<'a, N, CollisionObjectSlab<N, T>>>`[src]

Computes the first interference with ray and

`pub fn interferences_with_point<'a, 'b>( &'a self, point: &'b Point<N>, groups: &'b CollisionGroups ) -> InterferencesWithPoint<'a, 'b, N, CollisionObjectSlab<N, T>>ⓘNotable traits for InterferencesWithPoint<'a, 'b, N, Objects> impl<'a, 'b, N: RealField, Objects> Iterator for InterferencesWithPoint<'a, 'b, N, Objects> where N: RealField, Objects: CollisionObjectSet<N>, type Item = (Objects::CollisionObjectHandle, &'a Objects::CollisionObject);`[src]

Computes the interferences between every rigid bodies of a given broad phase, and a point.

`pub fn interferences_with_aabb<'a, 'b>( &'a self, aabb: &'b AABB<N>, groups: &'b CollisionGroups ) -> InterferencesWithAABB<'a, 'b, N, CollisionObjectSlab<N, T>>ⓘNotable traits for InterferencesWithAABB<'a, 'b, N, Objects> impl<'a, 'b, N: RealField, Objects: CollisionObjectSet<N>> Iterator for InterferencesWithAABB<'a, 'b, N, Objects> type Item = (Objects::CollisionObjectHandle, &'a Objects::CollisionObject);`[src]

Computes the interferences between every rigid bodies of a given broad phase, and a aabb.