Struct CDEngine

pub struct CDEngine {
    pub quadtree: QTNode,
    pub static_hazards: Vec<Hazard>,
    pub dynamic_hazards: Vec<Hazard>,
    pub config: CDEConfig,
    pub uncommitted_deregisters: Vec<Hazard>,
}

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

Fields

quadtree: QTNode

Root node of the quadtree

static_hazards: Vec<Hazard>

Static hazards that are registered at the start and do not change during the CDE’s lifetime

dynamic_hazards: Vec<Hazard>

Dynamic hazards that can be registered and deregistered during the CDE’s lifetime

config: CDEConfig

Configuration of the CDE

uncommitted_deregisters: Vec<Hazard>

Hazards which have been deregistered but not yet fully removed from the quadtree (just deactivated)

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( &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.

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

pub fn has_uncommitted_deregisters(&self) -> bool

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

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

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, detector: &mut impl HazardDetector, )

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

Arguments

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

pub fn collect_surrogate_collisions( &self, base_surrogate: &SPSurrogate, transform: &Transformation, detector: &mut impl HazardDetector, )

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

Arguments

• base_surrogate - The (untransformed) surrogate to be checked for collisions
• transform - The transformation to be applied to the surrogate (on the fly)
• detector - The detector 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

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.