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//! 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`. pub use self::closest_points::*; pub use self::contact::*; pub use self::distance::*; pub use self::nonlinear_time_of_impact::*; pub use self::point::*; pub use self::proximity::*; pub use self::ray::*; pub use self::time_of_impact::*; pub mod algorithms; mod closest_points; mod contact; mod distance; mod nonlinear_time_of_impact; mod point; mod proximity; mod ray; mod time_of_impact; pub mod visitors;