Module ncollide3d::query

Non-persistent geometric queries.

General cases

The most general methods provided by this module are:

• [query::closest_points()] to compute the closest points between two shapes.
• [query::distance()] to compute the distance between two shapes.
• [query::contact()] to compute one pair of contact points between two shapes, including penetrating contact.
• [query::proximity()] to determine if two shapes are intersecting or not.
• [query::time_of_impact()] to determine when two shapes undergoing translational motions hit for the first time.
• [query::nonlinear_time_of_impact()] to determine when two shapes undergoing continuous rigid motions hit for the first time.

Ray-casting and point-projection can be achieved by importing traits:

• [query::RayCast] for ray-casting.
• [query::PointQuery] for point projection.

Specific cases

All the other functions exported by this module are more specific versions of the ones described above. For example distance_ball_ball computes the distance between two shapes known at compile-time to be balls. They are less convenient to use than the most generic version but will be slightly faster due to the lack of dynamic dispatch. Generally, the specific functions have the form [operation]_[shape1]_[shape2]() where:

• [operation] can be closest_points, distance, contact, proximity or time_of_impact.
• [shape1] is the type of the first shape passed to the function, e.g., ball, or plane. Can also identify a trait implemented by supported shapes, e.g., support_map.
• [shape2] is the type of the second shape passed to the function, e.g., ball, or plane. Can also identify a trait implemented by supported shapes, e.g., support_map.

Modules

algorithms	Algorithms needed for distance and penetration depth computation.
visitors	Visitors for performing geometric queries exploiting spatial partitioning data structures.

Structs

Chain	The composition of two dispatchers
Contact	Geometric description of a contact.
ContactId	A contact identifier which is unique within a contact manifold.
ContactKinematic	Local contact kinematic of a pair of solids around two given points.
ContactManifold	A contact manifold.
ContactPrediction	The prediction parameters for contact determination.
DefaultTOIDispatcher	A dispatcher that exposes built-in queries
LocalShapeApproximation	The approximation of a shape on the neighborhood of a point.
PointProjection	Description of the projection of a point on a shape.
Ray	A Ray.
RayIntersection	Structure containing the result of a successful ray cast.
TOI	The result of a time-of-impact (TOI) computation.
TrackedContact	A contact combined with contact kinematic information as well as a persistent identifier.
Unsupported	Error indicating that a query is not supported between certain shapes

Enums

ClosestPoints	Closest points information.
ContactTrackingMode	The technique used for contact tracking.
NeighborhoodGeometry	A shape geometry type at the neighborhood of a point.
Proximity	Proximity information.
TOIStatus	The status of the time-of-impact computation algorithm.

Traits

ContactPreprocessor	Pre-process a contact before it is added to a contact manifold.
PointQuery	Trait of objects that can be tested for point inclusion and projection.
PointQueryWithLocation	Returns shape-specific info in addition to generic projection information
RayCast	Traits of objects which can be transformed and tested for intersection with a ray.
TOIDispatcher	Dispatcher for time-of-impact queries

Functions

closest_points	Computes the pair of closest points between two shapes.
closest_points_ball_ball	Proximity between balls.
closest_points_composite_shape_shape	Closest points between a composite shape and any other shape.
closest_points_line_line	Closest points between two segments.
closest_points_line_line_parameters	Closest points between two lines.
closest_points_line_line_parameters_eps	Closest points between two lines with a custom tolerance epsilon.
closest_points_plane_support_map	Closest points between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
closest_points_segment_segment	Closest points between segments.
closest_points_segment_segment_with_locations	Closest points between two segments.
closest_points_segment_segment_with_locations_nD	Segment-segment closest points computation in an arbitrary dimension.
closest_points_segment_segment_with_locations_nD_eps	Segment-segment closest points computation in an arbitrary dimension.
closest_points_shape_composite_shape	Closest points between a shape and a composite shape.
closest_points_support_map_plane	Closest points between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
closest_points_support_map_support_map	Closest points between support-mapped shapes (Cuboid, ConvexHull, etc.)
closest_points_support_map_support_map_with_params	Closest points between support-mapped shapes (Cuboid, ConvexHull, etc.)
contact	Computes one contact point between two shapes.
contact_ball_ball	Contact between balls.
contact_ball_convex_polyhedron	Contact between a ball and a convex polyhedron.
contact_composite_shape_shape	Best contact between a composite shape (Mesh, Compound) and any other shape.
contact_convex_polyhedron_ball	Contact between a convex polyhedron and a ball.
contact_plane_support_map	Contact between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
contact_shape_composite_shape	Best contact between a shape and a composite (Mesh, Compound) shape.
contact_support_map_plane	Contact between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
contact_support_map_support_map	Contact between support-mapped shapes (Cuboid, ConvexHull, etc.)
contact_support_map_support_map_with_params	Contact between support-mapped shapes (Cuboid, ConvexHull, etc.)
distance	Computes the minimum distance separating two shapes.
distance_ball_ball	Distance between balls.
distance_composite_shape_shape	Smallest distance between a composite shape and any other shape.
distance_plane_support_map	Distance between a plane and a support-mapped shape.
distance_shape_composite_shape	Smallest distance between a shape and a composite shape.
distance_support_map_plane	Distance between a support-mapped shape and a plane.
distance_support_map_support_map	Distance between support-mapped shapes.
distance_support_map_support_map_with_params	Distance between support-mapped shapes.
line_toi_with_plane	Computes the toi of an unbounded line with a plane described by its center and normal.
nonlinear_time_of_impact	Computes the smallest time of impact of two shapes under translational movement.
nonlinear_time_of_impact_ball_ball	Non-linear Time Of Impact of two balls under a rigid motion (translation + rotation).
nonlinear_time_of_impact_composite_shape_shape	Time Of Impact of a composite shape with any other shape, under a rigid motion (translation + rotation).
nonlinear_time_of_impact_shape_composite_shape	Time Of Impact of any shape with a composite shape, under a rigid motion (translation + rotation).
nonlinear_time_of_impact_support_map_support_map	Time of impacts between two support-mapped shapes under a rigid motion.
nonlinear_time_of_impact_support_map_support_map_with_closest_points_function	Time of impacts between two support-mapped shapes under a rigid motion.
point_projection_on_support_map	Projects a point on a shape using the GJK algorithm.
proximity	Tests whether two shapes are in intersecting or separated by a distance smaller than margin.
proximity_ball_ball	Proximity between balls.
proximity_composite_shape_shape	Proximity between a composite shape (Mesh, Compound) and any other shape.
proximity_plane_support_map	Proximity between a plane and a support-mapped shape (Cuboid, ConvexHull, etc.)
proximity_shape_composite_shape	Proximity between a shape and a composite (Mesh, Compound) shape.
proximity_support_map_plane	Proximity between a support-mapped shape (Cuboid, ConvexHull, etc.) and a plane.
proximity_support_map_support_map	Proximity between support-mapped shapes (Cuboid, ConvexHull, etc.)
proximity_support_map_support_map_with_params	Proximity between support-mapped shapes (Cuboid, ConvexHull, etc.)
ray_intersection_with_support_map_with_params	Cast a ray on a shape using the GJK algorithm.
ray_intersection_with_triangle	Computes the intersection between a triangle and a ray.
ray_toi_with_ball	Computes the time of impact of a ray on a ball.
ray_toi_with_plane	Computes the toi of a ray with a plane described by its center and normal.
time_of_impact	Computes the smallest time at with two shapes under translational movement are separated by a distance smaller or equal to distance.
time_of_impact_ball_ball	Time Of Impact of two balls under translational movement.
time_of_impact_composite_shape_shape	Time Of Impact of a composite shape with any other shape, under translational movement.
time_of_impact_plane_support_map	Time Of Impact of a plane with a support-mapped shape under translational movement.
time_of_impact_shape_composite_shape	Time Of Impact of any shape with a composite shape, under translational movement.
time_of_impact_support_map_plane	Time Of Impact of a plane with a support-mapped shape under translational movement.
time_of_impact_support_map_support_map	Time of impacts between two support-mapped shapes under translational movement.