1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169

/*!
ncollide
========

**ncollide** is a 2 and 3-dimensional collision detection library written with
the rust programming language.

As its name suggests, it is generic wrt the dimension: it works with both
2-dimensional and 3-dimensional shapes.

The official user guide is available [here](http://ncollide.org).
The rustdoc documentation is available [here](http://ncollide.org/rustdoc/ncollide).

## Compilation
You will need the last stable build of the [rust compiler](http://www.rust-lang.org)
and the official package manager: [cargo](https://github.com/rust-lang/cargo).

Simply add the following to your `Cargo.toml` file:

```.ignore
[dependencies]
ncollide2d = "0.23" # For 2D collision detection.
ncollide3d = "0.23" # For 3D collision detection.
```


## Features
- dynamic bounding volume tree based broad phase
- ball vs. ball collision detection,
- plane vs. any convex object collision detection.
- collision detection between arbitrary convex objects
- compound shapes
- ray-casting
- time of impact computation  for objects without rotational movement (compound vs. compound is not
  yet implemented)

And various traits for collision detectors and broad phase collision detection.
*/

#![deny(non_camel_case_types)]
#![deny(unused_parens)]
#![deny(non_upper_case_globals)]
#![deny(unused_qualifications)]
#![deny(missing_docs)] // FIXME: should be denied.
#![deny(unused_results)]
#![warn(unused_imports)]
#![allow(missing_copy_implementations)]
#![doc(html_root_url = "http://ncollide.org/rustdoc")]

#[cfg(feature = "serde")]
#[macro_use]
extern crate serde;
#[macro_use]
extern crate approx;
#[macro_use]
extern crate downcast_rs;
#[macro_use]
extern crate bitflags;
extern crate num_traits as num;

pub extern crate nalgebra as na;
pub extern crate simba;

macro_rules! try_ret {
    ($val: expr) => {
        try_ret!($val, ())
    };
    ($val: expr, $ret: expr) => {
        if let Some(val) = $val {
            val
        } else {
            return $ret;
        }
    };
}

const NOT_REGISTERED_ERROR: &'static str =
    "This collision object has not been registered into a world (proxy indexes are None).";

#[deprecated = "use the `pipeline` module instead."]
pub use crate::pipeline::{broad_phase, narrow_phase, world};

pub mod bounding_volume;
pub mod interpolation;
pub mod partitioning;
pub mod pipeline;
pub mod procedural;
pub mod query;
pub mod shape;
pub mod transformation;
pub mod utils;

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim3")]
pub mod math {
    use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3, U6};

    /// The dimension of the space.
    pub const DIM: usize = 3;

    /// The dimension of the ambient space.
    pub type Dim = U3;

    /// The dimension of a spatial vector.
    pub type SpatialDim = U6;

    /// The dimension of the rotations.
    pub type AngularDim = U3;

    /// The point type.
    pub type Point<N> = Point3<N>;

    /// The angular vector type.
    pub type AngularVector<N> = Vector3<N>;

    /// The vector type.
    pub type Vector<N> = Vector3<N>;

    /// The matrix type.
    pub type Matrix<N> = Matrix3<N>;

    /// The vector type with dimension `SpatialDim × 1`.
    pub type SpatialVector<N> = Vector6<N>;

    /// The orientation type.
    pub type Orientation<N> = Vector3<N>;

    /// The transformation matrix type.
    pub type Isometry<N> = Isometry3<N>;

    /// The rotation matrix type.
    pub type Rotation<N> = UnitQuaternion<N>;

    /// The translation type.
    pub type Translation<N> = Translation3<N>;
}

/// Compilation flags dependent aliases for mathematical types.
#[cfg(feature = "dim2")]
pub mod math {
    use na::{Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector1, Vector2, U2};

    /// The dimension of the space.
    pub const DIM: usize = 2;

    /// The dimension of the ambiant space.
    pub type Dim = U2;

    /// The point type.
    pub type Point<N> = Point2<N>;

    /// The vector type.
    pub type Vector<N> = Vector2<N>;

    /// The matrix type.
    pub type Matrix<N> = Matrix2<N>;

    /// The orientation type.
    pub type Orientation<N> = Vector1<N>;

    /// The transformation matrix type.
    pub type Isometry<N> = Isometry2<N>;

    /// The rotation matrix type.
    pub type Rotation<N> = UnitComplex<N>;

    /// The translation type.
    pub type Translation<N> = Translation2<N>;
}