Algorithms needed for distance and penetration depth computation.

Functions to compute the closest points between two geometries.

Functions to compute one contact point between two geometries.

Functions to compute the time of impact between two geometries.

Collision detector between two balls.

Collision detector between a concave geometry and another geometry.

Structure implementing CollisionDetectorFactory in order to create a new ConcaveGeomGeom collision detector.

A collision detector that does nothing.

Collision detector between a geometry and a concave geometry.

Structure implementing CollisionDetectorFactory in order to create a new GeomConcaveGeom collision detector.

Collision dispatcher between two ~Geom.

Persistent collision detector between two shapes having a support mapping function.

Collision detector between a plane and a geometry implementing the Implicit trait.

Contact manifold generator which keeps track of several contacts.

Contact manifold generator producing a full manifold at the first update.

Collision detector between a plane and a geometry implementing the Implicit trait.

Trait of the algorithms executed during the so-called Narrow Phase.

Trait of structures able do build a new collision detector.

Trait to be implemented by collision detector using dynamic dispatch.

Same as the CollisionDetector trait but using dynamic dispatch on the geometries.