Add methods to iterate through all the contact and proximity pairs.

2 files changed, 13 insertions, 9 deletions

diff --git a/src/geometry/interaction_graph.rs b/src/geometry/interaction_graph.rs
index 2abb6d1..cae8095 100644
--- a/src/geometry/interaction_graph.rs
+++ b/src/geometry/interaction_graph.rs
@@ -74,15 +74,9 @@ impl<T> InteractionGraph<T> {
         self.graph.node_weight(id).cloned()
     }
 
-    /// All the interactions pairs on this graph.
-    pub fn interaction_pairs(&self) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, &T)> {
-        self.graph.raw_edges().iter().map(move |edge| {
-            (
-                self.graph[edge.source()],
-                self.graph[edge.target()],
-                &edge.weight,
-            )
-        })
+    /// All the interactions on this graph.
+    pub fn interactions(&self) -> impl Iterator<Item = &T> {
+        self.graph.raw_edges().iter().map(move |edge| &edge.weight)
     }
 
     /// The interaction between the two collision objects identified by their graph index.
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index a3d0ea7..a21d3c6 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -140,6 +140,16 @@ impl NarrowPhase {
             .map(|c| c.2)
     }
 
+    /// All the contact pairs maintained by this narrow-phase.
+    pub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair> {
+        self.contact_graph.interactions()
+    }
+
+    /// All the proximity pairs maintained by this narrow-phase.
+    pub fn proximity_pairs(&self) -> impl Iterator<Item = &ProximityPair> {
+        self.proximity_graph.interactions()
+    }
+
     // #[cfg(feature = "parallel")]
     // pub(crate) fn contact_pairs_vec_mut(&mut self) -> &mut Vec<ContactPair> {
     //     &mut self.contact_graph.interactions