Struct ContactPoint

pub struct ContactPoint {
    pub local_point1: Vector,
    pub local_point2: Vector,
    pub penetration: Scalar,
    pub normal_impulse: Scalar,
    pub tangent_impulse: Vector2,
    pub feature_id1: PackedFeatureId,
    pub feature_id2: PackedFeatureId,
}

Data associated with a contact point in a ContactManifold.

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.

penetration: Scalar

The penetration depth.

Can be negative if the objects are separated and speculative collision is enabled.

normal_impulse: Scalar

The impulse applied to the first body along the contact normal.

To get the corresponding force, divide the impulse by Time<Substeps>::delta_secs().

tangent_impulse: Vector2

The impulse applied to the first body along the contact tangent. This corresponds to the impulse caused by friction.

To get the corresponding force, divide the impulse by Time<Substeps>::delta_secs().

feature_id1: PackedFeatureId

The contact feature ID on the first shape. This indicates the ID of the vertex, edge, or face of the contact, if one can be determined.

feature_id2: PackedFeatureId

The contact feature ID on the second shape. This indicates the ID of the vertex, edge, or face of the contact, if one can be determined.

Implementations

impl ContactPoint

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

Creates a new ContactPoint with the given points expressed in the local space of the first and second shape respectively.

Feature IDs can be specified for the contact points using with_feature_ids.

pub fn with_feature_ids( self, id1: PackedFeatureId, id2: PackedFeatureId, ) -> Self

Sets the feature IDs of the contact points.

pub fn normal_force(&self, delta_time: Scalar) -> Scalar

The force corresponding to the normal impulse applied over delta_time.

Because contacts are solved over several substeps, delta_time should typically use Time<Substeps>::delta_secs().

pub fn tangent_force(&self, delta_time: Scalar) -> Vector2

The force corresponding to the tangent impulse applied over delta_time.

Because contacts are solved over several substeps, delta_time should typically use Time<Substeps>::delta_secs().

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 flip(&mut self)

Flips the contact data, swapping the points and feature IDs, and negating the impulses.

pub fn flipped(&self) -> Self

Returns a flipped copy of the contact data, swapping the points and feature IDs, and negating the impulses.

Trait Implementations

impl Clone for ContactPoint

fn clone(&self) -> ContactPoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactPoint

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

Formats the value using the given formatter.

impl PartialEq for ContactPoint

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

impl StructuralPartialEq for ContactPoint