Struct SingleContact

pub struct SingleContact {
    pub local_point1: Vector,
    pub local_point2: Vector,
    pub local_normal1: Vector,
    pub local_normal2: Vector,
    pub penetration: Scalar,
}

Data related to a single contact between two bodies.

If you want a contact that belongs to a contact manifold and has more data, see ContactPoint.

Fields

local_point1: Vector

The contact point on the first shape in local space.

local_point2: Vector

The contact point on the second shape in local space.

local_normal1: Vector

The contact normal expressed in the local space of the first shape.

local_normal2: Vector

The contact normal expressed in the local space of the second shape.

penetration: Scalar

Penetration depth.

Implementations

impl SingleContact

pub fn new( local_point1: Vector, local_point2: Vector, local_normal1: Vector, local_normal2: Vector, penetration: Scalar, ) -> Self

Creates a new SingleContact. The contact points and normals should be given in local space.

pub fn global_point1(&self, position: &Position, rotation: &Rotation) -> Vector

Returns the global contact point on the first shape, transforming the local point by the given position and rotation.

pub fn global_point2(&self, position: &Position, rotation: &Rotation) -> Vector

Returns the global contact point on the second shape, transforming the local point by the given position and rotation.

pub fn global_normal1(&self, rotation: &Rotation) -> Vector

Returns the world-space contact normal pointing from the first shape to the second.

pub fn global_normal2(&self, rotation: &Rotation) -> Vector

Returns the world-space contact normal pointing from the second shape to the first.

pub fn flip(&mut self)

Flips the contact data, swapping the points and normals.

pub fn flipped(&self) -> Self

Returns a flipped copy of the contact data, swapping the points and normals.

Trait Implementations

impl Clone for SingleContact

fn clone(&self) -> SingleContact

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SingleContact

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

Formats the value using the given formatter.

impl PartialEq for SingleContact

fn eq(&self, other: &SingleContact) -> 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 Copy for SingleContact

impl StructuralPartialEq for SingleContact