Struct avian3d::collision::ContactManifold

pub struct ContactManifold {
    pub contacts: Vec<ContactData>,
    pub normal1: Vector,
    pub normal2: Vector,
    pub index: usize,
}

A contact manifold between two colliders, containing a set of contact points. Each contact in a manifold shares the same contact normal.

Fields

contacts: Vec<ContactData>

The contacts in this manifold.

normal1: Vector

A contact normal shared by all contacts in this manifold, expressed in the local space of the first entity.

normal2: Vector

A contact normal shared by all contacts in this manifold, expressed in the local space of the second entity.

index: usize

The index of the manifold in the collision.

Implementations

impl ContactManifold

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.

pub fn match_contacts( &mut self, previous_contacts: &[ContactData], 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.

Trait Implementations

impl Clone for ContactManifold

fn clone(&self) -> ContactManifold

Returns a copy 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

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 StructuralPartialEq for ContactManifold