Struct ContactConstraint

pub struct ContactConstraint {
    pub body1: Entity,
    pub body2: Entity,
    pub relative_dominance: i16,
    pub friction: Scalar,
    pub restitution: Scalar,
    pub tangent_speed: Scalar,
    pub normal: Vector,
    pub points: Vec<ContactConstraintPoint>,
    pub contact_id: ContactId,
    pub manifold_index: usize,
}

A contact constraint used for resolving inter-penetration between two bodies.

Each constraint corresponds to a ContactManifold indicated by the manifold_index. The contact points are stored in points, and they all share the same normal.

Fields

body1: Entity

The first rigid body entity in the contact.

body2: Entity

The second rigid body entity in the contact.

relative_dominance: i16

The relative dominance of the bodies.

If the relative dominance is positive, the first body is dominant and is considered to have infinite mass.

friction: Scalar

The combined coefficient of dynamic friction of the bodies.

restitution: Scalar

The combined coefficient of restitution of the bodies.

tangent_speed: Scalar

The desired relative linear speed of the bodies along the surface, expressed in world space as tangent_speed2 - tangent_speed1.

Defaults to zero. If set to a non-zero value, this can be used to simulate effects such as conveyor belts.

normal: Vector

The world-space contact normal shared by all points in the contact manifold.

points: Vec<ContactConstraintPoint>

The contact points in the manifold. Each point shares the same normal.

contact_id: ContactId

The stable identifier of the ContactEdge in the ContactGraph.

manifold_index: usize

The index of the contact manifold in the ContactPair.

Implementations

impl ContactConstraint

pub fn warm_start( &self, body1: &mut SolverBody, body2: &mut SolverBody, inertia1: &SolverBodyInertia, inertia2: &SolverBodyInertia, warm_start_coefficient: Scalar, )

Warm starts the contact constraint by applying the impulses from the previous frame or substep.

pub fn solve( &mut self, body1: &mut SolverBody, body2: &mut SolverBody, inertia1: &SolverBodyInertia, inertia2: &SolverBodyInertia, delta_secs: Scalar, use_bias: bool, max_overlap_solve_speed: Scalar, )

Solves the ContactConstraint, applying an impulse to the given bodies.

pub fn apply_restitution( &mut self, body1: &mut SolverBody, body2: &mut SolverBody, inertia1: &SolverBodyInertia, inertia2: &SolverBodyInertia, threshold: Scalar, )

Applies restitution for the given bodies if the relative speed along the contact normal exceeds the given threshold.

pub fn tangent_directions(&self) -> [Vector; 1]

Returns the tangent directions for the contact constraint.

Trait Implementations

impl Clone for ContactConstraint

fn clone(&self) -> ContactConstraint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ContactConstraint

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

Formats the value using the given formatter.

impl FromReflect for ContactConstraint

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for ContactConstraint

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl MapEntities for ContactConstraint

fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)

Updates all Entity references stored inside using entity_mapper.

impl PartialEq for ContactConstraint

fn eq(&self, other: &ContactConstraint) -> 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 PartialReflect for ContactConstraint

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for ContactConstraint

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Struct for ContactConstraint

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn to_dynamic_struct(&self) -> DynamicStruct

Creates a new DynamicStruct from this struct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for ContactConstraint

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for ContactConstraint

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl StructuralPartialEq for ContactConstraint