Struct ContactManifold

pub struct ContactManifold {
    pub points: Vec<ContactPoint>,
    pub normal: Vector,
    pub friction: Scalar,
    pub restitution: Scalar,
    pub tangent_velocity: Vector,
}

A contact manifold describing a contact surface between two colliders, represented by a set of contact points and surface properties.

A manifold can typically be a single point, a line segment, or a polygon formed by its contact points. Each contact point in a manifold shares the same contact normal.

Fields

points: Vec<ContactPoint>

The contact points in this manifold.

Each point in a manifold shares the same normal.

normal: Vector

The unit contact normal in world space, pointing from the first shape to the second.

The same normal is shared by all points in a manifold.

friction: Scalar

The effective coefficient of dynamic friction used for the contact surface.

restitution: Scalar

The effective coefficient of restitution used for the contact surface.

tangent_velocity: Vector

The desired relative linear velocity of the bodies along the surface, expressed in world space as tangent_velocity2 - tangent_velocity1.

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

Implementations

impl ContactManifold

pub fn new( points: impl IntoIterator<Item = ContactPoint>, normal: Vector, ) -> Self

Creates a new ContactManifold with the given contact points and surface normals, expressed in local space.

index represents the index of the manifold in the collision.

pub fn total_normal_impulse(&self) -> Scalar

The sum of the impulses applied at the contact points in the manifold along the contact normal.

pub fn max_normal_impulse(&self) -> Scalar

The magnitude of the largest impulse applied at a contact point in the manifold along the contact normal.

pub fn match_contacts( &mut self, previous_contacts: &[ContactPoint], distance_threshold: Scalar, )

Copies impulses from previous contacts to matching contacts in self.

Contacts are first matched based on their feature IDs, and if they are unknown, matching is done based on contact positions using the given distance_threshold for determining if points are too far away from each other to be considered matching.

pub fn prune_points(&mut self)

Prunes the contact points in the manifold to a maximum of 4 points. This is done to improve performance and stability.

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

Returns the contact point 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 ContactManifold

fn clone(&self) -> ContactManifold

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifold

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

Formats the value using the given formatter.

impl PartialEq for ContactManifold

fn eq(&self, other: &ContactManifold) -> 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 ContactManifold