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| author | Crozet Sébastien <developer@crozet.re> | 2021-03-26 18:16:27 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-03-26 18:16:27 +0100 |
| commit | 97157c9423f3360c5e941b4065377689221014ae (patch) | |
| tree | 707adf6e1feab0a9b7752d292baa161de790a8a1 /src/geometry/narrow_phase.rs | |
| parent | 326469a1df9d8502903d88fe8e47a67e9e7c9edd (diff) | |
| download | rapier-97157c9423f3360c5e941b4065377689221014ae.tar.gz rapier-97157c9423f3360c5e941b4065377689221014ae.tar.bz2 rapier-97157c9423f3360c5e941b4065377689221014ae.zip | |
First working version of non-linear CCD based on single-substep motion-clamping.
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 9c635dc..92cf57d 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -71,6 +71,14 @@ impl NarrowPhase { } } + /// The query dispatcher used by this narrow-phase to select the right collision-detection + /// algorithms depending of the shape types. + pub fn query_dispatcher( + &self, + ) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData> { + &*self.query_dispatcher + } + /// The contact graph containing all contact pairs and their contact information. pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair> { &self.contact_graph |