Struct ContactPair

pub struct ContactPair {
    pub contact_id: ContactId,
    pub collider1: Entity,
    pub collider2: Entity,
    pub body1: Option<Entity>,
    pub body2: Option<Entity>,
    pub manifolds: Vec<ContactManifold>,
    pub flags: ContactPairFlags,
    /* private fields */
}

A contact pair between two colliders.

Each contact pair has one or more contact manifolds, which represent contact surfaces between the two colliders. Each of these manifolds contains one or more contact points.

Contact pairs exist in the ContactGraph between colliders whose ColliderAabbs are overlapping, even if the colliders themselves are not touching.

Fields

contact_id: ContactId

The stable identifier of the ContactEdge in the ContactGraph.

collider1: Entity

The first collider entity in the contact.

collider2: Entity

The second collider entity in the contact.

body1: Option<Entity>

The entity of the first body involved in the contact.

body2: Option<Entity>

The entity of the second body involved in the contact.

manifolds: Vec<ContactManifold>

A list of contact manifolds between two colliders. Each manifold contains one or more contact points, but each contact in a given manifold shares the same contact normal.

flags: ContactPairFlags

Flag indicating the status and type of the contact pair.

Implementations

impl ContactPair

pub fn new(collider1: Entity, collider2: Entity, contact_id: ContactId) -> Self

Creates a new ContactPair with the given entities.

pub fn total_normal_impulse(&self) -> Vector

Computes the sum of all impulses applied along contact normals between the contact pair.

To get the corresponding force, divide the impulse by the time step.

pub fn total_normal_impulse_magnitude(&self) -> Scalar

Computes the sum of the magnitudes of all impulses applied along contact normals between the contact pair.

This is the sum of impulse magnitudes, not the magnitude of the total_normal_impulse.

To get the corresponding force, divide the impulse by the time step.

pub fn max_normal_impulse(&self) -> Vector

Finds the largest normal impulse between the contact pair, pointing along the world-space contact normal from the first shape to the second.

To get the corresponding force, divide the impulse by the time step.

pub fn max_normal_impulse_magnitude(&self) -> Scalar

Finds the magnitude of the largest normal impulse between the contact pair.

To get the corresponding force, divide the impulse by the time step.

pub fn is_touching(&self) -> bool

Returns true if the colliders are touching, including sensors.

pub fn aabbs_disjoint(&self) -> bool

Returns true if the AABBs of the colliders are no longer overlapping.

pub fn collision_started(&self) -> bool

Returns true if a collision started during the current frame.

pub fn collision_ended(&self) -> bool

Returns true if a collision ended during the current frame.

pub fn generates_constraints(&self) -> bool

Returns true if the contact pair should generate contact constraints.

This is typically true unless the contact pair involves a Sensor or a disabled rigid body.

pub fn find_deepest_contact(&self) -> Option<&ContactPoint>

Returns the contact with the largest penetration depth.

If the objects are separated but there is still a speculative contact, the penetration depth will be negative.

If there are no contacts, None is returned.

Trait Implementations

impl Clone for ContactPair

fn clone(&self) -> ContactPair

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ContactPair

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for ContactPair

fn eq(&self, other: &ContactPair) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ContactPair