Class NarrowPhase<TCallbacks>

Namespace

BepuPhysics.CollisionDetection

Assembly

BepuPhysics.dll

Turns broad phase overlaps into contact manifolds and uses them to manage constraints in the solver.

public class NarrowPhase<TCallbacks> : NarrowPhase where TCallbacks : struct, INarrowPhaseCallbacks

Type Parameters

TCallbacks

Type of the callbacks to use.

Inheritance

object

NarrowPhase

NarrowPhase<TCallbacks>

Inherited Members

NarrowPhase.Simulation

NarrowPhase.Pool

NarrowPhase.Bodies

NarrowPhase.Statics

NarrowPhase.Solver

NarrowPhase.Shapes

NarrowPhase.SweepTaskRegistry

NarrowPhase.CollisionTaskRegistry

NarrowPhase.ConstraintRemover

NarrowPhase.PairCache

NarrowPhase.RegisterContactConstraintAccessor(ContactConstraintAccessor)

NarrowPhase.TryGetContactConstraintAccessor(int, out ContactConstraintAccessor)

NarrowPhase.TryExtractSolverContactData<TExtractor>(ConstraintHandle, ref TExtractor)

NarrowPhase.TryExtractSolverContactPrestepAndImpulses<TExtractor>(ConstraintHandle, ref TExtractor)

NarrowPhase.IsContactConstraintType(int)

NarrowPhase.Prepare(float, IThreadDispatcher)

NarrowPhase.Flush(IThreadDispatcher)

NarrowPhase.Clear()

NarrowPhase.Dispose()

NarrowPhase.SortCollidableReferencesForPair(CollidableReference, CollidableReference, out CollidableMobility, out CollidableMobility, out CollidableReference, out CollidableReference)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

NarrowPhase(Simulation, CollisionTaskRegistry, SweepTaskRegistry, TCallbacks, int, int, int)

public NarrowPhase(Simulation simulation, CollisionTaskRegistry collisionTaskRegistry, SweepTaskRegistry sweepTaskRegistry, TCallbacks callbacks, int initialSetCapacity, int minimumMappingSize = 2048, int minimumPendingSize = 128)

Parameters

simulation Simulation

collisionTaskRegistry CollisionTaskRegistry

sweepTaskRegistry SweepTaskRegistry

callbacks TCallbacks

initialSetCapacity int

minimumMappingSize int

minimumPendingSize int

Fields

Callbacks

public TCallbacks Callbacks

Field Value

TCallbacks

Methods

ExtractContactConstraintBodyCount(int)

public static int ExtractContactConstraintBodyCount(int contactConstraintTypeId)

Parameters

contactConstraintTypeId int

Returns

int

HandleOverlap(int, CollidableReference, CollidableReference)

public void HandleOverlap(int workerIndex, CollidableReference a, CollidableReference b)

Parameters

workerIndex int

a CollidableReference

b CollidableReference

OnDispose()

protected override void OnDispose()

OnPostflush(IThreadDispatcher)

protected override void OnPostflush(IThreadDispatcher threadDispatcher)

Parameters

threadDispatcher IThreadDispatcher

OnPreflush(IThreadDispatcher, bool)

protected override void OnPreflush(IThreadDispatcher threadDispatcher, bool deterministic)

Parameters

threadDispatcher IThreadDispatcher

deterministic bool

OnPrepare(IThreadDispatcher)

protected override void OnPrepare(IThreadDispatcher threadDispatcher)

Parameters

threadDispatcher IThreadDispatcher

UpdateConstraint<TBodyHandles, TDescription, TContactImpulses>(int, CollidablePair, int, ref ConstraintCache, int, ref TDescription, TBodyHandles)

public void UpdateConstraint<TBodyHandles, TDescription, TContactImpulses>(int workerIndex, CollidablePair pair, int manifoldTypeAsConstraintType, ref ConstraintCache newConstraintCache, int newContactCount, ref TDescription description, TBodyHandles bodyHandles) where TBodyHandles : unmanaged where TDescription : unmanaged, IConstraintDescription<TDescription> where TContactImpulses : unmanaged

Parameters

workerIndex int

pair CollidablePair

manifoldTypeAsConstraintType int

newConstraintCache ConstraintCache

newContactCount int

description TDescription

bodyHandles TBodyHandles

Type Parameters

TBodyHandles

TDescription

TContactImpulses

UpdateConstraintsForPair<TContactManifold>(int, CollidablePair, ref TContactManifold)

public void UpdateConstraintsForPair<TContactManifold>(int workerIndex, CollidablePair pair, ref TContactManifold manifold) where TContactManifold : unmanaged, IContactManifold<TContactManifold>

Parameters

workerIndex int

pair CollidablePair

manifold TContactManifold

Type Parameters

TContactManifold