Struct CDEngine

pub struct CDEngine {
    pub quadtree: QTNode,
    pub static_hazards: Vec<Hazard>,
    pub dynamic_hazards: Vec<Hazard>,
    pub haz_prox_grid: Option<HazardProximityGrid>,
    pub config: CDEConfig,
    pub bbox: AARectangle,
    pub uncommitted_deregisters: Vec<Hazard>,
}

The Collision Detection Engine (CDE). The CDE can resolve a range of collision queries and update its state by registering and deregistering hazards.

Fields

quadtree: QTNode

static_hazards: Vec<Hazard>

dynamic_hazards: Vec<Hazard>

haz_prox_grid: Option<HazardProximityGrid>

config: CDEConfig

bbox: AARectangle

uncommitted_deregisters: Vec<Hazard>

Implementations

impl CDEngine

pub fn new( bbox: AARectangle, static_hazards: Vec<Hazard>, config: CDEConfig, ) -> CDEngine

pub fn register_hazard(&mut self, hazard: Hazard)

Registers a new hazard in the CDE.

pub fn deregister_hazard( &mut self, hazard_entity: HazardEntity, commit_instant: bool, )

Removes a hazard from the CDE. If commit_instant the deregistration is fully executed immediately. If not, the deregistration causes the hazard to be deactivated in the quadtree and the hazard_proximity_grid to become dirty (and therefore inaccessible).
Can be beneficial not to commit_instant if multiple hazards are to be deregistered, or if the chance of restoring from a snapshot with the hazard present is high.
Call Self::commit_deregisters to commit all uncommitted deregisters in both quadtree & hazard proximity grid or Self::flush_haz_prox_grid to just clear the hazard proximity grid.

pub fn create_snapshot(&mut self) -> CDESnapshot

pub fn restore(&mut self, snapshot: &CDESnapshot)

Restores the CDE to a previous state, as described by the snapshot.

pub fn commit_deregisters(&mut self)

Commits all pending deregisters by actually removing them from the quadtree and flushing the hazard proximity grid.

pub fn quadtree(&self) -> &QTNode

pub fn number_of_nodes(&self) -> usize

pub fn bbox(&self) -> &AARectangle

pub fn smallest_qt_node_dimension(&self) -> fsize

pub fn config(&self) -> CDEConfig

pub fn haz_prox_grid(&self) -> Result<&HazardProximityGrid, DirtyState>

If the grid has uncommitted deregisters, it is considered dirty and cannot be accessed. To flush all the changes, call Self::flush_haz_prox_grid.

pub fn flush_haz_prox_grid(&mut self)

Flushes all uncommitted deregisters in the HazardProximityGrid.

pub fn has_uncommitted_deregisters(&self) -> bool

pub fn dynamic_hazards(&self) -> &Vec<Hazard>

Returns all hazards in the CDE, which can change during the lifetime of the CDE.

pub fn static_hazards(&self) -> &Vec<Hazard>

Returns all hazards in the CDE, which cannot change during the lifetime of the CDE.

pub fn all_hazards(&self) -> impl Iterator<Item = &Hazard>

Returns all hazards in the CDE, both static and dynamic.

pub fn surrogate_or_poly_collides( &self, reference_shape: &SimplePolygon, transform: &Transformation, buffer_shape: &mut SimplePolygon, irrelevant_hazards: &[HazardEntity], ) -> bool

Checks whether a reference simple polygon, with a transformation applies, collides with any of the hazards. The check is first done on the surrogate, then with the actual shape. A buffer shape is used as a temporary storage for the transformed shape.

Arguments

• reference_shape - The shape to be checked for collisions
• transform - The transformation to be applied to the reference shape
• buffer_shape - A temporary storage for the transformed shape
• irrelevant_hazards - entities to be ignored during the check

pub fn poly_collides( &self, shape: &SimplePolygon, irrelevant_hazards: &[HazardEntity], ) -> bool

Checks whether a simple polygon collides with any of the (relevant) hazards

Arguments

• shape - The shape (already transformed) to be checked for collisions
• irrelevant_hazards - entities to be ignored during the check

pub fn surrogate_collides( &self, base_surrogate: &SPSurrogate, transform: &Transformation, irrelevant_hazards: &[HazardEntity], ) -> bool

Checks whether a surrogate collides with any of the (relevant) hazards.

Arguments

• base_surrogate - The (untransformed) surrogate to be checked for collisions
• transform - The transformation to be applied to the surrogate
• irrelevant_hazards - entities to be ignored during the check

pub fn point_definitely_collides_with( &self, point: &Point, entity: HazardEntity, ) -> Tribool

Checks whether a point definitely collides with any of the (relevant) hazards. Only fully hazardous nodes in the quadtree are considered.

pub fn edge_definitely_collides( &self, edge: &Edge, irrelevant_hazards: &[HazardEntity], ) -> Tribool

Checks whether an edge definitely collides with any of the (relevant) hazards. Only fully hazardous nodes in the quadtree are considered.

pub fn circle_definitely_collides( &self, circle: &Circle, irrelevant_hazards: &[HazardEntity], ) -> Tribool

Checks whether a circle definitely collides with any of the (relevant) hazards. Only fully hazardous nodes in the quadtree are considered.

pub fn poly_or_hazard_are_contained( &self, shape: &SimplePolygon, haz: &Hazard, ) -> bool

pub fn collect_poly_collisions( &self, shape: &SimplePolygon, irrelevant_hazards: &[HazardEntity], ) -> DetectionMap

Collects all hazards with which the polygon collides. Any hazards in irrelevant_hazards are ignored.

pub fn collect_poly_collisions_in_detector( &self, shape: &SimplePolygon, irrelevant_hazards: &[HazardEntity], detector: &mut impl HazardDetector, )

Collects all hazards with which the polygon collides and stores them in the detector. Any hazards in irrelevant_hazards are ignored, as well as hazards present in the detector before the call.

pub fn collect_surrogate_collisions( &self, base_surrogate: &SPSurrogate, transform: &Transformation, irrelevant_hazards: &[HazardEntity], ) -> DetectionMap

Collects all hazards with which the surrogate collides. Any hazards in irrelevant_hazards are ignored.

pub fn collect_surrogate_collisions_in_detector( &self, base_surrogate: &SPSurrogate, transform: &Transformation, irrelevant_hazards: &[HazardEntity], detector: &mut impl HazardDetector, )

Collects all hazards with which the surrogate collides and stores them in the detector. Any hazards in irrelevant_hazards are ignored, as well as hazards present in the detector before the call.

pub fn collect_potential_hazards_within( &self, bbox: &AARectangle, detector: &mut impl HazardDetector, )

Collects all hazards potentially colliding with the given bounding box. This is an overestimation, as it’s limited by the quadtree resolution.

Trait Implementations

impl Clone for CDEngine

fn clone(&self) -> CDEngine

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CDEngine

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.