Struct ContactConstraint

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,
}

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

impl ContactConstraint

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.

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.

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.

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.

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

Computes DIM - 1 tangent directions.

Trait Implementations

impl Clone for ContactConstraint

fn clone(&self) -> ContactConstraint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactConstraint

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

Formats the value using the given formatter.

impl FromReflect for ContactConstraint

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.

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

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for ContactConstraint

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl MapEntities for ContactConstraint

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

Updates all Entity references stored inside using entity_mapper.

impl PartialEq for ContactConstraint

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

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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

Clones the value as a Reflect trait object.

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

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

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

Returns an immutable enumeration of “kinds” of type.

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

Returns a mutable enumeration of “kinds” of type.

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

Returns an owned enumeration of “kinds” of type.

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

Attempts to cast this type to a boxed, fully-reflected value.

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

Attempts to cast this type to a fully-reflected value.

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

Attempts to cast this type to a mutable, fully-reflected value.

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

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

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

Casts this type to a mutable, reflected value.

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

Returns a “partial equality” comparison result.

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

Applies a reflected value to this value.

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

Returns a hash of the value (which includes the type).

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

Debug formatter for the value.

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for ContactConstraint

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

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

Returns the value as a &mut dyn Any.

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

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

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

Casts this type to a mutable, fully-reflected value.

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

Performs a type-checked assignment of a reflected value to this value.

impl Struct for ContactConstraint

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

Returns a reference to the value of the field named name as a &dyn PartialReflect.

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

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

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

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

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

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

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

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

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

Returns an iterator over the values of the reflectable fields for this struct.

fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

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

Will return None if TypeInfo is not available.

impl TypePath for ContactConstraint

where ContactConstraint: Any + Send + Sync,

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

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

Returns the name of the type, or None if it is anonymous.

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

Returns the name of the crate the type is in, or None if it is anonymous.

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

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for ContactConstraint

where ContactConstraint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Friction: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Restitution: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec<ContactConstraintPoint>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl StructuralPartialEq for ContactConstraint