Function avian3d::collision::contact_query::contact_manifolds

pub fn contact_manifolds(
    collider1: &Collider,
    position1: impl Into<Position>,
    rotation1: impl Into<Rotation>,
    collider2: &Collider,
    position2: impl Into<Position>,
    rotation2: impl Into<Rotation>,
    prediction_distance: Scalar
) -> Vec<ContactManifold>

Computes all ContactManifolds between two Colliders.

Returns an empty vector if the colliders are separated by a distance greater than prediction_distance or if the given shapes are invalid.

Example

use avian3d::prelude::{contact_query::contact_manifolds, *};
use bevy::prelude::*;

let collider1 = Collider::sphere(0.5);
let collider2 = Collider::cuboid(1.0, 1.0, 1.0);

// Compute contact manifolds a collision that should be penetrating
let manifolds = contact_manifolds(
    // First collider
    &collider1,
    Vec3::default(),
    Quat::default(),
    // Second collider
    &collider2,
    Vec3::X * 0.25,
    Quat::default(),
    // Prediction distance
    0.0,
);

assert_eq!(manifolds.is_empty(), false);