Struct ContactConstraint

Source

pub struct ContactConstraint {
    pub body1: Entity,
    pub body2: Entity,
    pub collider1: Entity,
    pub collider2: Entity,
    pub friction: Scalar,
    pub restitution: Scalar,
    pub tangent_velocity: Vector,
    pub normal: Vector,
    pub points: Vec<ContactConstraintPoint>,
    pub pair_index: usize,
    pub manifold_index: usize,
}

Expand description

A contact constraint used for resolving inter-penetration between two bodies.

Each constraint corresponds to a ContactManifold indicated by the manifold_index. The contact points are stored in points, and they all share the same normal.

Fields§

§body1: Entity

The first rigid body entity in the contact.

§body2: Entity

The second rigid body entity in the contact.

§collider1: Entity

The first collider entity in the contact.

§collider2: Entity

The second collider entity in the contact.

§friction: Scalar

The combined coefficient of dynamic friction of the bodies.

§restitution: Scalar

The combined coefficient of restitution of the bodies.

§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.

§normal: Vector

The world-space contact normal shared by all points in the contact manifold.

§points: Vec<ContactConstraintPoint>

The contact points in the manifold. Each point shares the same normal.

§pair_index: usize

The index of the ContactPair in the ContactGraph.

This is primarily used for ordering contact constraints deterministically when parallelism is enabled. The index may be invalidated by contact removal.

§manifold_index: usize

The index of the ContactManifold in the ContactPair stored for the two bodies.

Struct ContactConstraintCopy item path

Fields§

Implementations§

impl ContactConstraint

pub fn warm_start( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, normal: Vector, tangent_directions: [Vector; 2], warm_start_coefficient: Scalar, )

pub fn solve( &mut self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_secs: Scalar, use_bias: bool, max_overlap_solve_speed: Scalar, )

pub fn apply_restitution( &mut self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, threshold: Scalar, )

pub fn tangent_directions( &self, velocity1: Vector, velocity2: Vector, ) -> [Vector; 2]

Trait Implementations§

impl Clone for ContactConstraint

fn clone(&self) -> ContactConstraint

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

impl Debug for ContactConstraint

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

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

fn get_type_registration() -> TypeRegistration

fn register_type_dependencies(registry: &mut TypeRegistry)

impl MapEntities for ContactConstraint

fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)

impl PartialEq for ContactConstraint

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

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

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

fn reflect_kind(&self) -> ReflectKind

fn reflect_ref(&self) -> ReflectRef<'_>

fn reflect_mut(&mut self) -> ReflectMut<'_>

fn reflect_owned(self: Box<Self>) -> ReflectOwned

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

fn try_as_reflect(&self) -> Option<&dyn Reflect>

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

fn as_partial_reflect(&self) -> &dyn PartialReflect

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

fn clone_value(&self) -> Box<dyn PartialReflect>

fn to_dynamic(&self) -> Box<dyn PartialReflect>

fn reflect_hash(&self) -> Option<u64>

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

fn is_dynamic(&self) -> bool

fn into_any(self: Box<Self>) -> Box<dyn Any>

fn as_any(&self) -> &dyn Any

fn as_any_mut(&mut self) -> &mut dyn Any

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

fn as_reflect(&self) -> &dyn Reflect

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

fn name_at(&self, index: usize) -> Option<&str>

fn field_len(&self) -> usize

fn iter_fields(&self) -> FieldIter<'_>

fn to_dynamic_struct(&self) -> DynamicStruct

fn clone_dynamic(&self) -> DynamicStruct

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

impl TypePath for ContactConstraintwhere ContactConstraint: Any + Send + Sync,

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>

fn type_info() -> &'static TypeInfo

impl StructuralPartialEq for ContactConstraint

Auto Trait Implementations§

impl Freeze for ContactConstraint

impl RefUnwindSafe for ContactConstraint

impl Send for ContactConstraint

impl Sync for ContactConstraint

impl Unpin for ContactConstraint

impl UnwindSafe for ContactConstraint

Blanket Implementations§

impl<T> Any for Twhere T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T, U> AsBindGroupShaderType<U> for Twhere U: ShaderType, &'a T: for<'a> Into<U>,

fn as_bind_group_shader_type(&self, _images: &RenderAssets<GpuImage>) -> U

Struct ContactConstraint

impl TypePath for ContactConstraint
where ContactConstraint: Any + Send + Sync,

impl<T> Any for T
where T: 'static + ?Sized,

impl<T, U> AsBindGroupShaderType<U> for T
where U: ShaderType, &'a T: for<'a> Into<U>,

impl<T> Borrow<T> for T
where T: ?Sized,

impl<T> BorrowMut<T> for T
where T: ?Sized,

impl<T> CloneToUninit for T
where T: Clone,

impl<T> Downcast for T
where T: Any,

impl<T> Downcast for T
where T: Any,

impl<T> DowncastSend for T
where T: Any + Send,

impl<T> DowncastSync for T
where T: Any + Send + Sync,

impl<T> DynamicTypePath for T
where T: TypePath,

impl<T> DynamicTyped for T
where T: Typed,

impl<S> GetField for S
where S: Struct,

fn get_field<T>(&self, name: &str) -> Option<&T>
where T: Reflect,

fn get_field_mut<T>(&mut self, name: &str) -> Option<&mut T>
where T: Reflect,

impl<T> GetPath for T
where T: Reflect + ?Sized,

fn path<'p, T>( &self, path: impl ReflectPath<'p>, ) -> Result<&T, ReflectPathError<'p>>
where T: Reflect,

fn path_mut<'p, T>( &mut self, path: impl ReflectPath<'p>, ) -> Result<&mut T, ReflectPathError<'p>>
where T: Reflect,

impl<T, U> Into<U> for T
where U: From<T>,

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,