pub struct ContactConstraint {
pub entity1: Entity,
pub entity2: Entity,
pub collider_entity1: Entity,
pub collider_entity2: Entity,
pub friction: Friction,
pub restitution: Restitution,
pub normal: Vector,
pub points: Vec<ContactConstraintPoint>,
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§
§entity1: Entity
The first entity in the contact.
entity2: Entity
The second entity in the contact.
collider_entity1: Entity
The entity of the first collider in the contact.
collider_entity2: Entity
The entity of the first collider in the contact.
friction: Friction
The combined Friction
of the bodies.
restitution: Restitution
The combined Restitution
of the bodies.
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
.
manifold_index: usize
The index of the ContactManifold
in the Contacts
stored for the two bodies.
Implementations§
source§impl ContactConstraint
impl ContactConstraint
sourcepub fn generate(
manifold_id: usize,
manifold: &ContactManifold,
body1: &RigidBodyQueryReadOnlyItem<'_>,
body2: &RigidBodyQueryReadOnlyItem<'_>,
collider_entity1: Entity,
collider_entity2: Entity,
collider_transform1: Option<ColliderTransform>,
collider_transform2: Option<ColliderTransform>,
collision_margin: impl Into<CollisionMargin>,
speculative_margin: impl Into<SpeculativeMargin>,
friction: Friction,
restitution: Restitution,
softness: SoftnessCoefficients,
warm_start: bool,
delta_secs: Scalar
) -> Self
pub fn generate( manifold_id: usize, manifold: &ContactManifold, body1: &RigidBodyQueryReadOnlyItem<'_>, body2: &RigidBodyQueryReadOnlyItem<'_>, collider_entity1: Entity, collider_entity2: Entity, collider_transform1: Option<ColliderTransform>, collider_transform2: Option<ColliderTransform>, collision_margin: impl Into<CollisionMargin>, speculative_margin: impl Into<SpeculativeMargin>, friction: Friction, restitution: Restitution, softness: SoftnessCoefficients, warm_start: bool, delta_secs: Scalar ) -> Self
Generates a new ContactConstraint
for the given bodies based on a ContactManifold
.
sourcepub fn warm_start(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
normal: Vector,
tangent_directions: [Vector; 2],
warm_start_coefficient: Scalar
)
pub fn warm_start( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, normal: Vector, tangent_directions: [Vector; 2], warm_start_coefficient: Scalar )
Warm starts the contact constraint by applying the impulses from the previous frame or substep.
sourcepub fn solve(
&mut self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
delta_secs: Scalar,
use_bias: bool,
max_overlap_solve_speed: Scalar
)
pub fn solve( &mut self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_secs: Scalar, use_bias: bool, max_overlap_solve_speed: Scalar )
Solves the ContactConstraint
, applying an impulse to the given bodies.
sourcepub fn apply_restitution(
&mut self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
threshold: Scalar
)
pub fn apply_restitution( &mut self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, threshold: Scalar )
Applies restitution for the given bodies if the relative speed
along the contact normal exceeds the given threshold
.
Trait Implementations§
source§impl Clone for ContactConstraint
impl Clone for ContactConstraint
source§fn clone(&self) -> ContactConstraint
fn clone(&self) -> ContactConstraint
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl Debug for ContactConstraint
impl Debug for ContactConstraint
source§impl FromReflect for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
impl FromReflect for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
source§fn from_reflect(reflect: &dyn Reflect) -> Option<Self>
fn from_reflect(reflect: &dyn Reflect) -> Option<Self>
Self
from a reflected value.source§fn take_from_reflect(
reflect: Box<dyn Reflect>
) -> Result<Self, Box<dyn Reflect>>
fn take_from_reflect( reflect: Box<dyn Reflect> ) -> Result<Self, Box<dyn Reflect>>
Self
using,
constructing the value using from_reflect
if that fails. Read moresource§impl GetTypeRegistration for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
impl GetTypeRegistration for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
source§fn get_type_registration() -> TypeRegistration
fn get_type_registration() -> TypeRegistration
TypeRegistration
for this type.source§fn register_type_dependencies(registry: &mut TypeRegistry)
fn register_type_dependencies(registry: &mut TypeRegistry)
source§impl MapEntities for ContactConstraint
impl MapEntities for ContactConstraint
source§fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)
fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)
source§impl PartialEq for ContactConstraint
impl PartialEq for ContactConstraint
source§fn eq(&self, other: &ContactConstraint) -> bool
fn eq(&self, other: &ContactConstraint) -> bool
self
and other
values to be equal, and is used
by ==
.source§impl Reflect for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
impl Reflect for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
source§fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
source§fn as_any_mut(&mut self) -> &mut dyn Any
fn as_any_mut(&mut self) -> &mut dyn Any
&mut dyn Any
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fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>
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fn as_reflect(&self) -> &dyn Reflect
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fn as_reflect_mut(&mut self) -> &mut dyn Reflect
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fn clone_value(&self) -> Box<dyn Reflect>
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fn reflect_kind(&self) -> ReflectKind
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fn apply(&mut self, value: &(dyn Reflect + 'static))
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fn reflect_hash(&self) -> Option<u64>
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fn debug(&self, f: &mut Formatter<'_>) -> Result<(), Error>
source§fn serializable(&self) -> Option<Serializable<'_>>
fn serializable(&self) -> Option<Serializable<'_>>
source§fn is_dynamic(&self) -> bool
fn is_dynamic(&self) -> bool
source§impl Struct for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
impl Struct for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
source§fn field(&self, name: &str) -> Option<&dyn Reflect>
fn field(&self, name: &str) -> Option<&dyn Reflect>
name
as a &dyn Reflect
.source§fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>
fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>
name
as a
&mut dyn Reflect
.source§fn field_at(&self, index: usize) -> Option<&dyn Reflect>
fn field_at(&self, index: usize) -> Option<&dyn Reflect>
index
as a
&dyn Reflect
.source§fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>
fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>
index
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fn name_at(&self, index: usize) -> Option<&str>
index
.source§fn iter_fields(&self) -> FieldIter<'_>
fn iter_fields(&self) -> FieldIter<'_>
source§fn clone_dynamic(&self) -> DynamicStruct
fn clone_dynamic(&self) -> DynamicStruct
DynamicStruct
.source§impl TypePath for ContactConstraint
impl TypePath for ContactConstraint
source§fn type_path() -> &'static str
fn type_path() -> &'static str
source§fn short_type_path() -> &'static str
fn short_type_path() -> &'static str
source§fn type_ident() -> Option<&'static str>
fn type_ident() -> Option<&'static str>
source§fn crate_name() -> Option<&'static str>
fn crate_name() -> Option<&'static str>
source§impl Typed for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
impl Typed for ContactConstraintwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Friction: FromReflect + TypePath + RegisterForReflection,
Restitution: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Vec<ContactConstraintPoint>: FromReflect + TypePath + RegisterForReflection,
usize: FromReflect + TypePath + RegisterForReflection,
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
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