Struct ncollide3d::pipeline::broad_phase::DBVTBroadPhase

pub struct DBVTBroadPhase<N: RealField, BV, T> { /* fields omitted */ }

Broad phase based on a Dynamic Bounding Volume Tree.

It uses two separate trees: one for static objects and which is never updated, and one for moving objects.

Methods

impl<N, BV, T> DBVTBroadPhase<N, BV, T> where
    N: RealField,
    BV: 'static + BoundingVolume<N> + Clone, 

pub fn new(margin: N) -> DBVTBroadPhase<N, BV, T>

Creates a new broad phase based on a Dynamic Bounding Volume Tree.

pub fn num_interferences(&self) -> usize

Number of interferences detected by this broad phase.

Trait Implementations

impl<N, BV, T> BroadPhase<N, BV, T> for DBVTBroadPhase<N, BV, T> where
    N: RealField,
    BV: BoundingVolume<N> + RayCast<N> + PointQuery<N> + Any + Send + Sync + Clone,
    T: Any + Send + Sync + Clone, 

fn update(&mut self, handler: &mut dyn BroadPhaseInterferenceHandler<T>)

Updates the object additions, removals, and interferences detection.

fn proxy(&self, handle: BroadPhaseProxyHandle) -> Option<(&BV, &T)>

Retrieves the bounding volume and data associated to the given proxy.

fn create_proxy(&mut self, bv: BV, data: T) -> BroadPhaseProxyHandle

Tells the broad phase to add a bounding-volume at the next update.

fn remove(
    &mut self,
    handles: &[BroadPhaseProxyHandle],
    handler: &mut dyn FnMut(&T, &T)
)

Tells the broad phase to remove the given set of handles.

fn deferred_set_bounding_volume(
    &mut self,
    handle: BroadPhaseProxyHandle,
    bounding_volume: BV
)

Sets the next bounding volume to be used during the update of this broad phase.

fn deferred_recompute_all_proximities_with(
    &mut self,
    handle: BroadPhaseProxyHandle
)

Forces the broad-phase to recompute and re-report all the proximities with the given object.

fn deferred_recompute_all_proximities(&mut self)

Forces the broad-phase to recompute and re-report all the proximities.

fn interferences_with_bounding_volume<'a>(
    &'a self,
    bv: &BV,
    out: &mut Vec<&'a T>
)

Collects every object which might intersect a given bounding volume.

fn interferences_with_ray<'a>(
    &'a self,
    ray: &Ray<N>,
    max_toi: N,
    out: &mut Vec<&'a T>
)

Collects every object which might intersect a given ray.

fn interferences_with_point<'a>(
    &'a self,
    point: &Point<N>,
    out: &mut Vec<&'a T>
)

Collects every object which might contain a given point.

fn first_interference_with_ray<'a, 'b>(
    &'a self,
    ray: &'b Ray<N>,
    max_toi: N,
    cost_fn: &'a dyn Fn(T, &'b Ray<N>, N) -> Option<(T, RayIntersection<N>)>
) -> Option<(T, RayIntersection<N>)>

Returns the first object that interferes with a ray.