├── .circleci └── config.yml ├── .github └── FUNDING.yml ├── .gitignore ├── CHANGELOG.md ├── Cargo.toml ├── LICENSE ├── Makefile ├── README.md ├── examples2d ├── examples3d ├── publish.sh ├── rustfmt.toml └── src ├── bounding_volume ├── aabb.rs ├── aabb_ball.rs ├── aabb_compound.rs ├── aabb_convex.rs ├── aabb_convex_polygon.rs ├── aabb_cuboid.rs ├── aabb_heightfield.rs ├── aabb_plane.rs ├── aabb_polyline.rs ├── aabb_segment.rs ├── aabb_shape.rs ├── aabb_support_map.rs ├── aabb_triangle.rs ├── aabb_trimesh.rs ├── aabb_utils.rs ├── bounding_sphere.rs ├── bounding_sphere_ball.rs ├── bounding_sphere_capsule.rs ├── bounding_sphere_compound.rs ├── bounding_sphere_cone.rs ├── bounding_sphere_convex.rs ├── bounding_sphere_convex_polygon.rs ├── bounding_sphere_cuboid.rs ├── bounding_sphere_cylinder.rs ├── bounding_sphere_heightfield.rs ├── bounding_sphere_plane.rs ├── bounding_sphere_polyline.rs ├── bounding_sphere_segment.rs ├── bounding_sphere_shape.rs ├── bounding_sphere_triangle.rs ├── bounding_sphere_trimesh.rs ├── bounding_sphere_utils.rs ├── bounding_volume.rs ├── circular_cone.rs ├── mod.rs └── spatialized_normal_cone.rs ├── interpolation ├── mod.rs └── rigid_motion.rs ├── lib.rs ├── partitioning ├── bvh.rs ├── bvt.rs ├── dbvt.rs ├── mod.rs └── visitor.rs ├── pipeline ├── broad_phase │ ├── broad_phase.rs │ ├── broad_phase_pair_filter.rs │ ├── dbvt_broad_phase.rs │ └── mod.rs ├── glue │ ├── mod.rs │ ├── query.rs │ ├── setup.rs │ └── update.rs ├── mod.rs ├── narrow_phase │ ├── contact_generator │ │ ├── ball_ball_manifold_generator.rs │ │ ├── ball_convex_polyhedron_manifold_generator.rs │ │ ├── capsule_capsule_manifold_generator.rs │ │ ├── capsule_shape_manifold_generator.rs │ │ ├── composite_shape_composite_shape_manifold_generator.rs │ │ ├── composite_shape_shape_manifold_generator.rs │ │ ├── contact_manifold_generator.rs │ │ ├── convex_polyhedron_convex_polyhedron_manifold_generator.rs │ │ ├── default_contact_dispatcher.rs │ │ ├── heightfield_shape_manifold_generator.rs │ │ ├── mod.rs │ │ ├── plane_ball_manifold_generator.rs │ │ ├── plane_convex_polyhedron_manifold_generator.rs │ │ └── trimesh_trimesh_manifold_generator.rs │ ├── events.rs │ ├── interaction_graph.rs │ ├── mod.rs │ ├── narrow_phase.rs │ └── proximity_detector │ │ ├── ball_ball_proximity_detector.rs │ │ ├── composite_shape_shape_proximity_detector.rs │ │ ├── default_proximity_dispatcher.rs │ │ ├── mod.rs │ │ ├── plane_support_map_proximity_detector.rs │ │ ├── proximity_detector.rs │ │ └── support_map_support_map_proximity_detector.rs ├── object │ ├── collision_groups.rs │ ├── collision_object.rs │ ├── collision_object_set.rs │ ├── mod.rs │ └── query_type.rs └── world.rs ├── procedural ├── bezier.rs ├── capsule.rs ├── cone.rs ├── cuboid.rs ├── cylinder.rs ├── mod.rs ├── path │ ├── arrowhead_cap.rs │ ├── mod.rs │ ├── no_cap.rs │ ├── path.rs │ ├── polyline_path.rs │ └── polyline_pattern.rs ├── polyline.rs ├── quad.rs ├── sphere.rs ├── trimesh.rs ├── utils.rs └── vec_slice.rs ├── query ├── algorithms │ ├── cso_point.rs │ ├── epa2.rs │ ├── epa3.rs │ ├── gjk.rs │ ├── minkowski_sampling.rs │ ├── mod.rs │ ├── special_support_maps.rs │ ├── voronoi_simplex2.rs │ └── voronoi_simplex3.rs ├── closest_points │ ├── closest_points.rs │ ├── closest_points_ball_ball.rs │ ├── closest_points_composite_shape_shape.rs │ ├── closest_points_line_line.rs │ ├── closest_points_plane_support_map.rs │ ├── closest_points_segment_segment.rs │ ├── closest_points_shape_shape.rs │ ├── closest_points_support_map_support_map.rs │ └── mod.rs ├── contact │ ├── contact.rs │ ├── contact_ball_ball.rs │ ├── contact_ball_convex_polyhedron.rs │ ├── contact_composite_shape_shape.rs │ ├── contact_kinematic.rs │ ├── contact_manifold.rs │ ├── contact_plane_support_map.rs │ ├── contact_preprocessor.rs │ ├── contact_shape_shape.rs │ ├── contact_support_map_support_map.rs │ └── mod.rs ├── distance │ ├── distance.rs │ ├── distance_ball_ball.rs │ ├── distance_composite_shape_shape.rs │ ├── distance_plane_support_map.rs │ ├── distance_support_map_support_map.rs │ └── mod.rs ├── error.rs ├── mod.rs ├── nonlinear_time_of_impact │ ├── mod.rs │ ├── nonlinear_time_of_impact.rs │ ├── nonlinear_time_of_impact_ball_ball.rs │ ├── nonlinear_time_of_impact_composite_shape_shape.rs │ ├── nonlinear_time_of_impact_plane_support_map.rs │ └── nonlinear_time_of_impact_support_map_support_map.rs ├── point │ ├── mod.rs │ ├── point_aabb.rs │ ├── point_ball.rs │ ├── point_bounding_sphere.rs │ ├── point_capsule.rs │ ├── point_compound.rs │ ├── point_cuboid.rs │ ├── point_heightfield.rs │ ├── point_plane.rs │ ├── point_polyline.rs │ ├── point_query.rs │ ├── point_segment.rs │ ├── point_shape.rs │ ├── point_support_map.rs │ ├── point_tetrahedron.rs │ ├── point_triangle.rs │ └── point_trimesh.rs ├── proximity │ ├── mod.rs │ ├── proximity.rs │ ├── proximity_ball_ball.rs │ ├── proximity_composite_shape_shape.rs │ ├── proximity_plane_support_map.rs │ ├── proximity_shape_shape.rs │ └── proximity_support_map_support_map.rs ├── ray │ ├── mod.rs │ ├── ray.rs │ ├── ray_aabb.rs │ ├── ray_ball.rs │ ├── ray_bounding_sphere.rs │ ├── ray_compound.rs │ ├── ray_cuboid.rs │ ├── ray_heightfield.rs │ ├── ray_plane.rs │ ├── ray_polyline.rs │ ├── ray_shape.rs │ ├── ray_support_map.rs │ ├── ray_triangle.rs │ └── ray_trimesh.rs ├── time_of_impact │ ├── mod.rs │ ├── time_of_impact.rs │ ├── time_of_impact_ball_ball.rs │ ├── time_of_impact_composite_shape_shape.rs │ ├── time_of_impact_plane_support_map.rs │ └── time_of_impact_support_map_support_map.rs ├── toi_dispatcher.rs └── visitors │ ├── aabb_sets_interferences_collector.rs │ ├── bounding_volume_interferences_collector.rs │ ├── composite_closest_point_visitor.rs │ ├── composite_point_containment_test.rs │ ├── mod.rs │ ├── point_interferences_collector.rs │ ├── ray_interferences_collector.rs │ └── ray_intersection_cost_fn_visitor.rs ├── shape ├── ball.rs ├── capsule.rs ├── composite_shape.rs ├── compound.rs ├── cone.rs ├── convex.rs ├── convex_polygon.rs ├── convex_polygonal_feature2.rs ├── convex_polygonal_feature3.rs ├── convex_polyhedron.rs ├── cuboid.rs ├── cylinder.rs ├── deformable_shape.rs ├── heightfield2.rs ├── heightfield3.rs ├── mod.rs ├── plane.rs ├── polyline.rs ├── segment.rs ├── shape.rs ├── shape_impl.rs ├── support_map.rs ├── tetrahedron.rs ├── triangle.rs └── trimesh.rs ├── transformation ├── convex_hull2.rs ├── convex_hull3.rs ├── convex_hull_utils.rs ├── hacd.rs ├── mod.rs ├── to_polyline │ ├── ball_to_polyline.rs │ ├── capsule_to_polyline.rs │ ├── cuboid_to_polyline.rs │ ├── mod.rs │ ├── segment_to_polyline.rs │ ├── to_polyline.rs │ └── triangle_to_polyline.rs ├── to_trimesh │ ├── ball_to_trimesh.rs │ ├── capsule_to_trimesh.rs │ ├── cone_to_trimesh.rs │ ├── cuboid_to_trimesh.rs │ ├── cylinder_to_trimesh.rs │ ├── heightfield_to_trimesh.rs │ ├── mesh_to_trimesh.rs │ ├── mod.rs │ ├── to_trimesh.rs │ └── triangle_to_trimesh.rs └── triangulate.rs └── utils ├── 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