proximity_detector.rs - source

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query

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closest_points

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distance

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nonlinear_time_of_impact

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proximity

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ray

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visitors

aabb_sets_interferences_collector.rs bounding_volume_interferences_collector.rs composite_closest_point_visitor.rs composite_point_containment_test.rs mod.rs point_interferences_collector.rs ray_interferences_collector.rs ray_intersection_cost_fn_visitor.rs

error.rs mod.rs toi_dispatcher.rs

shape

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to_trimesh

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convex_hull2.rs convex_hull3.rs convex_hull_utils.rs hacd.rs mod.rs

utils

as_bytes.rs ccw_face_normal.rs center.rs cleanup.rs deterministic_state.rs hashable_partial_eq.rs isometry_ops.rs median.rs mod.rs point_cloud_support_point.rs point_in_poly2d.rs ref_with_cost.rs sort.rs sorted_pair.rs tetrahedron.rs triangle.rs

nom

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number

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error.rs internal.rs lib.rs methods.rs str.rs traits.rs util.rs whitespace.rs

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cast.rs lib.rs pow.rs

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lib.rs linux.rs

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average.rs lib.rs roots.rs

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definition.rs lib.rs utils.rs

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imp_std.rs lib.rs

parking_lot

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thread_parker

linux.rs mod.rs

lib.rs parking_lot.rs spinwait.rs util.rs word_lock.rs

pathfinding

directed

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undirected

connected_components.rs kruskal.rs mod.rs

grid.rs kuhn_munkres.rs lib.rs matrix.rs utils.rs

pennereq

petgraph

pin_project_lite

pin_utils

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png

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chunk.rs common.rs encoder.rs filter.rs lib.rs traits.rs utils.rs

polygon2

ppv_lite86

x86_64

lib.rs soft.rs types.rs

proc_macro2

detection.rs fallback.rs lib.rs marker.rs parse.rs wrapper.rs

proc_macro_crate

proc_macro_hack

error.rs iter.rs lib.rs parse.rs quote.rs

proc_macro_nested

quote

ext.rs format.rs ident_fragment.rs lib.rs runtime.rs spanned.rs to_tokens.rs

rand

rand_chacha

chacha.rs guts.rs lib.rs

rand_core

block.rs error.rs impls.rs le.rs lib.rs os.rs

rand_distr

raw_window_handle

rawpointer

rayon

delegate.rs lib.rs math.rs option.rs par_either.rs prelude.rs private.rs range.rs range_inclusive.rs result.rs split_producer.rs str.rs string.rs vec.rs

rayon_core

compile_fail

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join

scope

sleep

counters.rs mod.rs

spawn

thread_pool

job.rs latch.rs lib.rs log.rs private.rs registry.rs unwind.rs util.rs

rect_packer

packer

mod.rs packer.rs

regex

regex_syntax

retain_mut

rin

rin_app

app.rs application_callbacks.rs lib.rs

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skinning

components.rs mod.rs

actions.rs animation_system.rs components.rs lib.rs scene_data.rs textures.rs

rin_core

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autoload.rs basic_material.rs bitmap_font.rs cubemap.rs image_based_light.rs lib.rs macros.rs material.rs object.rs outline_material.rs renderer.rs shader_material.rs simple_fbo.rs traits.rs ttf.rs uniforms_cache.rs vao_mesh.rs vao_path.rs

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rin_math

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mod.rs path_follower.rs

events

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mod.rs shadow.rs

physics

mod.rs rigidbody.rs

postprocessing

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time

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bundle.rs components.rs geometry.rs immediate_renderer.rs lib.rs scene.rs skybox.rs water.rs

rin_util

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rin_window

events.rs glfw_window.rs lib.rs window.rs

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rinecs_derive

changes.rs component.rs debug.rs debug_param_fn.rs filter.rs hierarchical.rs hierarchical_oneton.rs lib.rs oneton.rs onetoone.rs

rinecs_derive_utils

lib.rs system.rs

ringui_derive

rustc_demangle

legacy.rs lib.rs v0.rs

rusty_pool

ryu

buffer

pretty

exponent.rs mantissa.rs mod.rs

common.rs d2s.rs d2s_full_table.rs d2s_intrinsics.rs digit_table.rs f2s.rs f2s_intrinsics.rs lib.rs

scopeguard

seitan

seitan_derive

semver

lib.rs version.rs version_req.rs

semver_parser

common.rs lib.rs range.rs recognize.rs version.rs

serde

de

ignored_any.rs impls.rs mod.rs seed.rs utf8.rs value.rs

private

de.rs doc.rs mod.rs ser.rs size_hint.rs

ser

fmt.rs impls.rs impossible.rs mod.rs

integer128.rs lib.rs macros.rs

serde_derive

internals

ast.rs attr.rs case.rs check.rs ctxt.rs mod.rs receiver.rs respan.rs symbol.rs

bound.rs de.rs dummy.rs fragment.rs lib.rs pretend.rs ser.rs try.rs

serde_json

features_check

io

value

de.rs from.rs index.rs mod.rs partial_eq.rs ser.rs

de.rs error.rs iter.rs lib.rs macros.rs map.rs number.rs read.rs ser.rs

shaderdata_derive

simba

scalar

complex.rs field.rs mod.rs real.rs subset.rs

simd

auto_simd_impl.rs mod.rs simd_bool.rs simd_complex.rs simd_option.rs simd_partial_ord.rs simd_real.rs simd_signed.rs simd_value.rs

slab

slice_of_array

slotmap

dense.rs hop.rs lib.rs normal.rs secondary.rs sparse_secondary.rs

smallvec

std140_data

streaming_iterator

lib.rs sources.rs

strsim

syn

synstructure

lib.rs macros.rs

thiserror

aserror.rs display.rs lib.rs

thiserror_impl

ast.rs attr.rs expand.rs fmt.rs lib.rs prop.rs valid.rs

thread_local

cached.rs lib.rs thread_id.rs unreachable.rs

tiff

decoder

ifd.rs mod.rs stream.rs

encoder

colortype.rs mod.rs writer.rs

bytecast.rs error.rs lib.rs tags.rs

time

display.rs duration.rs lib.rs parse.rs sys.rs

toml

datetime.rs de.rs lib.rs macros.rs map.rs ser.rs spanned.rs tokens.rs value.rs

typenum

array.rs bit.rs int.rs lib.rs marker_traits.rs operator_aliases.rs private.rs type_operators.rs uint.rs

unchecked_unwrap

unicode_xid

lib.rs tables.rs

vec2

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

vec3

cross.rs extract.rs inv.rs len.rs lerp.rs lib.rs min_max.rs new.rs norm.rs ops.rs set.rs transform.rs

weezl

decode.rs encode.rs error.rs lib.rs

x11

dpms.rs glx.rs internal.rs keysym.rs lib.rs link.rs xcursor.rs xf86vmode.rs xfixes.rs xft.rs xinerama.rs xinput.rs xinput2.rs xlib.rs xlib_xcb.rs xmd.rs xmu.rs xrandr.rs xrecord.rs xrender.rs xss.rs xt.rs xtest.rs

zlib_sys

use crate::math::Isometry;
use crate::query::Proximity;
use crate::shape::Shape;
use na::RealField;
use std::any::Any;

/// Trait implemented by algorithms that determine if two objects are in close proximity.
pub trait ProximityDetector<N: RealField>: Any + Send + Sync {
    /// Runs the proximity detection on two objects. It is assumed that the same proximity detector
    /// (the same instance) is always used with the same pair of object.
    fn update(
        &mut self,
        dispatcher: &dyn ProximityDispatcher<N>,
        ma: &Isometry<N>,
        a: &dyn Shape<N>,
        mb: &Isometry<N>,
        b: &dyn Shape<N>,
        margin: N,
    ) -> Option<Proximity>;
}

pub type ProximityAlgorithm<N> = Box<dyn ProximityDetector<N>>;

pub trait ProximityDispatcher<N>: Any + Send + Sync {
    /// Allocate a collision algorithm corresponding to the given pair of shapes.
    fn get_proximity_algorithm(
        &self,
        a: &dyn Shape<N>,
        b: &dyn Shape<N>,
    ) -> Option<ProximityAlgorithm<N>>;
}