Glue code between each part of the collision-detection pipeline.
Return structure for
Iterator through all the objects on the world which bounding volume intersects a specific AABB.
Iterator through all the objects on the world that intersect a specific point.
Iterator through all the objects on the world that intersect a specific ray.
Registers a collision object handle so it can be taken into acconut by the broad-phase and the narrow-phase.
Allocate a default broad-phase, configured with a default coherence margin (set to 0.01).
Allocate a default interaction graph.
Allocate a default narrow-phase, configured with the default contact and proximity dispatchers.
Returns an the closest collision object intersecting with the given ray.
Returns an iterator yielding all the collision objects with an AABB intersecting with the given AABB.
Returns an iterator yielding all the collision objects containing the given point.
Returns an iterator yielding all the collision objects intersecting with the given ray.
Performs the broad-phase and the narrow-phase.
Performs the broad-phase.
Performs the narrow-phase.
Free all the resources allocated by the broad-phase and the interaction graph for the given proxy handles.