Struct ContactManifoldView

pub struct ContactManifoldView<'a> {
    pub raw: &'a ContactManifold,
    /* private fields */
}

Read-only access to the properties of a contact manifold.

Fields

raw: &'a ContactManifold

The raw contact manifold from Rapier.

Implementations

impl ContactManifoldView<'_>

pub fn num_points(&self) -> usize

The number of points on this contact manifold.

pub fn point(&self, i: usize) -> Option<ContactView<'_>>

Retrieves the i-th point of this contact manifold.

pub fn points(&self) -> impl ExactSizeIterator<Item = ContactView<'_>>

The contacts points.

pub fn local_n1(&self) -> Vect

The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.

pub fn local_n2(&self) -> Vect

The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.

pub fn subshape1(&self) -> u32

The first subshape involved in this contact manifold.

This is zero if the first shape is not a composite shape.

pub fn subshape2(&self) -> u32

The second subshape involved in this contact manifold.

This is zero if the second shape is not a composite shape.

pub fn rigid_body1(&self) -> Option<Entity>

The first rigid-body involved in this contact manifold.

pub fn rigid_body2(&self) -> Option<Entity>

The second rigid-body involved in this contact manifold.

pub fn solver_flags(&self) -> SolverFlags

Flags used to control some aspects of the constraints solver for this contact manifold.

pub fn normal(&self) -> Vect

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

pub fn num_solver_contacts(&self) -> usize

The contacts that will be seen by the constraints solver for computing forces.

pub fn solver_contact(&self, i: usize) -> Option<SolverContactView<'_>>

Gets the i-th solver contact.

pub fn solver_contacts( &self, ) -> impl ExactSizeIterator<Item = SolverContactView<'_>>

The contacts that will be seen by the constraints solver for computing forces.

pub fn relative_dominance(&self) -> i16

The relative dominance of the bodies involved in this contact manifold.

pub fn user_data(&self) -> u32

A user-defined piece of data.

impl ContactManifoldView<'_>

pub fn find_deepest_contact(&self) -> Option<ContactView<'_>>

Returns the contact with the smallest distance (i.e. the largest penetration depth).