Struct CDEngine

pub struct CDEngine {
    pub quadtree: QTNode,
    pub hazards_map: SlotMap<HazKey, Hazard>,
    pub config: CDEConfig,
    /* private fields */
}

The Collision Detection Engine (CDE). Hazards can be (de)registered and collision queries can be performed.

Fields

quadtree: QTNode

Root node of the quadtree

hazards_map: SlotMap<HazKey, Hazard>

All hazards registered in the CDE (active and inactive)

config: CDEConfig

Configuration of the CDE

Implementations

impl CDEngine

pub fn new( bbox: Rect, 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_by_entity( &mut self, hazard_entity: HazardEntity, ) -> Hazard

Removes a hazard from the CDE.

pub fn deregister_hazard_by_key(&mut self, hkey: HazKey) -> Hazard

pub fn save(&self) -> CDESnapshot

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

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

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

Returns all hazards in the CDE

pub fn detect_poly_collision( &self, shape: &SPolygon, filter: &impl HazardFilter, ) -> bool

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

Arguments

• shape - The shape (already transformed) to be checked for collisions
• filter - Hazard filter to be applied

pub fn detect_surrogate_collision( &self, base_surrogate: &SPSurrogate, transform: &Transformation, filter: &impl HazardFilter, ) -> 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 (on the fly)
• filter - Hazard filter to be applied

pub fn detect_containment_collision( &self, shape: &SPolygon, haz_shape: &SPolygon, haz_entity: HazardEntity, ) -> bool

Check for collision by containment between a shape and a hazard. This only guarantees to detect collisions caused by full containment of one shape in another.

Arguments

• shape - The shape to be checked for containment
• haz_shape - The shape of the respective hazard
• haz_entity - The entity inducing the hazard

pub fn collect_poly_collisions( &self, shape: &SPolygon, collector: &mut impl HazardCollector, )

Collects all hazards with which the polygon collides and reports them to the collector.

Arguments

• shape - The shape to be checked for collisions
• collector - The collector to which the hazards are reported

pub fn collect_surrogate_collisions( &self, base_surrogate: &SPSurrogate, transform: &Transformation, collector: &mut impl HazardCollector, )

Collects all hazards with which the surrogate collides and reports them to the collector.

Arguments

• base_surrogate - The (untransformed) surrogate to be checked for collisions
• transform - The transformation to be applied to the surrogate (on the fly)
• collector - The collector to which the hazards are reported

pub fn get_virtual_root(&self, bbox: Rect) -> &QTNode

Returns the lowest QTNode that completely surrounds the given bounding box. Used to initiate collision checks from lower in the quadtree.

pub fn bbox(&self) -> Rect

pub fn haz_key_from_pi_key(&self, pik: PItemKey) -> Option<HazKey>

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.