Namespace BepuPhysics.CollisionDetection
Classes
- BroadPhase
Manages scene acceleration structures for collision detection and queries.
- CollisionTask
Parent type of tasks which handle collision tests between batches of shapes of a particular type.
- CollisionTaskRegistry
Registry of collision tasks used to handle various shape pair types.
- ConstraintRemover
Accumulates constraints to remove from multiple threads, and efficiently removes them all as a batch.
- ContactConstraintAccessor
Provides indirection for reading from and updating constraints in the narrow phase.
- DepthRefiner<TShapeA, TShapeWideA, TSupportFinderA, TShapeB, TShapeWideB, TSupportFinderB>
Incrementally refines a sample direction to approach a local minimum depth between two convex bodies.
- MeshReductionThunks<TMesh>
Type-specialized thunks that bridge MeshReduction's type-erased function pointer fields back to a concrete mesh shape type. The static fields here are populated once per closed TMesh by the runtime, and the JIT specializes the bodies so that the calls into
TMeshare devirtualized.
- NarrowPhase<TCallbacks>
Turns broad phase overlaps into contact manifolds and uses them to manage constraints in the solver.
- WideRayTester
Helper class for creating runtime specialized vectorized ray intersection tests with shapes that support broadcasting.
Structs
- BroadPhaseRayBatcher<TRayTester>
Helps test the broad phase's active and static trees with a custom leaf tester.
- CollisionTaskReference
Metadata about a collision task.
- ConstraintCache
Stores information about a contact constraint from the previous timestep.
- Contact
Information about a single contact.
- ConvexContact
Information about a single contact in a convex collidable pair. Convex collidable pairs share one surface basis across the manifold, since the contact surface is guaranteed to be a plane.
- ConvexContactManifold
Contains the data associated with a convex contact manifold.
- NonconvexContactManifold
Contains the data associated with a nonconvex contact manifold.
- PairCacheChangeIndex
Refers to a change in a PairCache.
- PairMaterialProperties
Material properties governing the interaction between colliding bodies. Used by the narrow phase to create constraints of the appropriate configuration.
- SimulationRayBatcher<TRayHitHandler>
Tests batches of rays against the simulation.
- TwoBodyHandles
Associated with a pair of two collidables that each are controlled by bodies.
- WorkerPendingPairChanges
Contains the pending pair cache changes created by a single worker during the last execution of narrow phase pair processing.
Interfaces
- IBroadPhaseSweepTester
Defines a type that can act as a callback for broad phase sweep tests.
- ICollisionCallbacks
Callbacks invoked by a CollisionBatcher<TCallbacks>.
- ICollisionTestContinuation
Defines a type which includes information necessary to apply some form of post processing to a collision test result.
- INarrowPhaseCallbacks
Defines handlers for narrow phase events.
Enums
- CollisionContinuationType
Describes the flow control to apply to a convex-convex pair report.
- CollisionTaskPairType
Describes the data requirements for a collision pair type in a CollisionBatcher<TCallbacks>.
Delegates
- BroadPhase.RefinementScheduler
Returns the size and number of refinements to execute during the broad phase.