Struct avian3d::collision::ContactData

pub struct ContactData {
    pub point1: Vector,
    pub point2: Vector,
    pub normal1: Vector,
    pub normal2: Vector,
    pub penetration: Scalar,
    pub normal_impulse: Scalar,
    pub tangent_impulse: Vector2,
    pub feature_id1: PackedFeatureId,
    pub feature_id2: PackedFeatureId,
}

Data related to a contact between two bodies.

Fields

point1: Vector

Contact point on the first entity in local coordinates.

point2: Vector

Contact point on the second entity in local coordinates.

normal1: Vector

A contact normal expressed in the local space of the first entity.

normal2: Vector

A contact normal expressed in the local space of the second entity.

penetration: Scalar

Penetration depth.

normal_impulse: Scalar

The impulse applied to the first body along the normal.

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

tangent_impulse: Vector2

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

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

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

Implementations

impl ContactData

pub fn new( point1: Vector, point2: Vector, normal1: Vector, normal2: Vector, penetration: Scalar ) -> Self

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

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_seconds().

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_seconds().

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

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

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

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

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

Returns the world-space contact normal pointing towards the exterior of the first entity.

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

Returns the world-space contact normal pointing towards the exterior of the second entity.

Trait Implementations

impl Clone for ContactData

fn clone(&self) -> ContactData

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactData

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

Formats the value using the given formatter.

impl PartialEq for ContactData

fn eq(&self, other: &ContactData) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for ContactData

impl StructuralPartialEq for ContactData