[][src]Trait ncollide3d::narrow_phase::ContactManifoldGenerator

pub trait ContactManifoldGenerator<N: Real>: 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>,
        id_alloc: &mut IdAllocator,
        manifold: &mut ContactManifold<N>
    ) -> bool; fn init_manifold(&self) -> ContactManifold<N> { ... } }

Trait implemented algorithms that compute contact points, normals and penetration depths.

Required Methods

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 object.

Provided Methods

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

Implementors

impl<N: Real> ContactManifoldGenerator<N> for BallBallManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for BallConvexPolyhedronManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for CapsuleCapsuleManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for CapsuleShapeManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for CompositeShapeCompositeShapeManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for CompositeShapeShapeManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for ConvexPolyhedronConvexPolyhedronManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for HeightFieldShapeManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for PlaneBallManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for PlaneConvexPolyhedronManifoldGenerator<N>
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impl<N: Real> ContactManifoldGenerator<N> for TriMeshTriMeshManifoldGenerator<N>
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