Struct CDEngine 

pub struct CDEngine<E = BasicHazardEntity> { /* private fields */ }

The Collision Detection Engine (CDE). Hazards can be (de)registered and collision queries can be performed. The entity type E defines what can induce a hazard, see HazardEntity.

Implementations

impl<E: HazardEntity> CDEngine<E>

pub fn new( bbox: Rect, static_hazards: Vec<Hazard<E>>, config: CDEConfig, ) -> Self

Creates an engine with the static hazards, exactly one of which covers the exterior. Snapshots hold only the hazards registered later.

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

Registers a new hazard in the CDE.

pub fn deregister_hazard_by_entity(&mut self, hazard_entity: E) -> Hazard<E>

Removes a hazard from the CDE.

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

Removes a hazard registered after construction from the CDE.

pub fn save(&self) -> CDESnapshot<E>

Saves the hazards registered after construction, to restore them later with CDEngine::restore.

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

Restores the hazards registered after construction to those of a snapshot, keeping those present in both.

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

Returns all hazards in the CDE

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

Checks whether a surrogate collides with any of the (relevant) hazards. A true result proves a collision for the represented polygon. A false result is inconclusive; follow with Self::detect_poly_collision.

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 collect_poly_collisions( &self, shape: &SPolygon, filter: &impl HazardFilter<E>, collector: &mut impl HazardCollector<Entity = E>, )

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

Arguments

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

pub fn collect_poly_collisions_until<H, C, F>( &self, shape: &SPolygon, filter: &H, collector: &mut C, stop_after_collision: F, ) -> bool

where H: HazardFilter<E>, C: HazardCollector<Entity = E>, F: FnMut(E) -> bool,

Collects polygon collisions until stop_after_collision requests an early return.

The callback receives each colliding hazard’s entity after it is added to the collector for the first time. Returning true stops traversal and leaves the collector with only the hazards found up to that point. Collision order is unspecified.

pub fn collect_surrogate_collisions( &self, shape: &SPolygon, filter: &impl HazardFilter<E>, collector: &mut impl HazardCollector<Entity = E>, )

Collects collisions found by the surrogate screening pass.

This checks a prefix of the largest poles, not the complete polygon. Follow it with Self::collect_poly_collisions when every collision must be collected.

pub fn collect_surrogate_collisions_until<H, C, F>( &self, shape: &SPolygon, filter: &H, collector: &mut C, stop_after_collision: F, ) -> bool

where H: HazardFilter<E>, C: HazardCollector<Entity = E>, F: FnMut(E) -> bool,

Collects collisions found by the surrogate screening pass until stop_after_collision requests an early return.

The callback contract matches Self::collect_poly_collisions_until. The configured fail-fast poles are checked against the exterior first, then against the other hazards in index order, not by pole size. This is not a complete polygon collision query; follow it with Self::collect_poly_collisions_until if the callback does not stop the screening pass.

pub fn bbox(&self) -> Rect

Shapes reaching outside this rectangle collide with the exterior.

pub fn haz_key(&self, entity: &E) -> Option<HazKey>

Returns the key of the hazard induced by entity, if registered.

pub fn hazards_map(&self) -> &SlotMap<HazKey, Hazard<E>>

All hazards registered in the CDE (active and inactive)

pub fn hazard(&self, key: HazKey) -> Option<&Hazard<E>>

Returns the registered hazard, or None if the key is no longer valid.

pub fn config(&self) -> CDEConfig

Configuration of the CDE

Trait Implementations

impl<E: Clone> Clone for CDEngine<E>

fn clone(&self) -> CDEngine<E>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<E: Debug> Debug for CDEngine<E>

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

Formats the value using the given formatter.