Struct ContactModificationContextView 

pub struct ContactModificationContextView<'a, 'b> {
    pub raw: &'a mut ContactModificationContext<'b>,
}

Read-write access to the properties of a contact modification context.

Fields

raw: &'a mut ContactModificationContext<'b>

The raw context from Rapier.

Implementations

impl ContactModificationContextView<'_, '_>

pub fn collider1(&self) -> Entity

The entity of the first collider involved in the potential collision.

pub fn collider2(&self) -> Entity

The entity of the second collider involved in the potential collision.

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

The entity of the first rigid-body (if self.collider1() is attached to a rigid-body) involved in the potential collision.

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

The entity of the second rigid-body (if self.collider1() is attached to a rigid-body) involved in the potential collision.

impl ContactModificationContextView<'_, '_>

pub fn is_rigid(&self) -> bool

Is this a pair with contact manifolds (every pair except two soft surfaces)?

All the manifold accessors of this view (e.g. Self::normal, Self::friction, Self::solver_contacts) are only meaningful for such pairs.

pub fn is_soft(&self) -> bool

Is this a pair of two soft surfaces?

The contacts of such pairs are contact candidates rather than a manifold. They can be accessed through Self::soft and Self::soft_mut; the manifold accessors of this view return None (or do nothing) for them.

pub fn soft(&self) -> Option<&SoftPairContacts>

The contact candidates of a pair of two soft surfaces (None for other pairs).

pub fn soft_mut(&mut self) -> Option<&mut SoftPairContacts>

Mutable access to the contact candidates of a pair of two soft surfaces (None for other pairs).

A candidate’s dir and dist can be modified, or its enabled flag cleared to drop it; SoftPairContacts::disable_all ignores the whole pair in the constraints solver.

pub fn manifold(&self) -> Option<&ContactManifold>

The contact manifold being modified (None for a pair of two soft surfaces).

pub fn normal(&self) -> Option<Vect>

The world-space contact normal of the manifold (None for a pair of two soft surfaces).

pub fn set_normal(&mut self, normal: Vect)

Sets the world-space contact normal of the manifold (ignored for a pair of two soft surfaces).

pub fn friction(&self) -> Option<Real>

The friction coefficient applied to every solver contact of the manifold (None for a pair of two soft surfaces).

pub fn set_friction(&mut self, friction: Real)

Sets the friction coefficient applied to every solver contact of the manifold (ignored for a pair of two soft surfaces).

pub fn restitution(&self) -> Option<Real>

The restitution coefficient applied to every solver contact of the manifold (None for a pair of two soft surfaces).

pub fn set_restitution(&mut self, restitution: Real)

Sets the restitution coefficient applied to every solver contact of the manifold (ignored for a pair of two soft surfaces).

pub fn user_data(&self) -> Option<u32>

The user-defined data of the manifold, persistent across timesteps while the manifold exists (None for a pair of two soft surfaces).

pub fn set_user_data(&mut self, user_data: u32)

Sets the user-defined data of the manifold (ignored for a pair of two soft surfaces).

pub fn solver_contacts(&self) -> Option<&[SolverContact]>

The solver contacts of the manifold (None for a pair of two soft surfaces).

While inside the hook, each solver contact’s anchor1/anchor2 hold the world-space contact points on each body and dist their separation.

pub fn solver_contacts_mut(&mut self) -> Option<&mut SolverContacts>

Mutable access to the solver contacts of the manifold (None for a pair of two soft surfaces).

Contacts can be modified (e.g. their tangent_velocity to simulate conveyor belts), removed, or all cleared to ignore this manifold in the constraints solver.

pub fn update_as_oneway_platform( &mut self, allowed_local_n1: Vect, allowed_angle: Real, )

Updates the contacts to emulate a one-way platform.

Contacts are only allowed if the contact normal, expressed in the local space of the first collider, is within allowed_angle (in radians) of allowed_local_n1. This must be called at each timestep for each manifold involving the platform, and the manifold’s user data must not be modified elsewhere since it is used to track the contact state. Pairs of two soft surfaces are left untouched.