Struct ContactPairView 

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

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

Fields

raw: &'a ContactPair

The raw contact pair from Rapier.

Implementations

impl ContactPairView<'_>

pub fn collider1(&self) -> Option<Entity>

The first collider involved in this contact pair.

pub fn collider2(&self) -> Option<Entity>

The second collider involved in this contact pair.

pub fn manifolds_len(&self) -> usize

The number of contact manifolds detected for this contact pair.

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

Gets the i-th contact manifold.

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

Iterate through all the contact manifolds of this contact pair.

pub fn has_any_active_contact(&self) -> bool

Is there any active contact in this contact pair?

pub fn is_rigid(&self) -> bool

Does this pair hold contact manifolds (every pair except two soft surfaces)?

pub fn is_soft(&self) -> bool

Is this a pair of two soft surfaces, whose contacts are candidates instead of manifolds?

Such pairs have no manifolds; their candidates can be read through Self::soft_contacts.

pub fn contacts(&self) -> &PairContacts

The contacts of this pair: manifolds, or the contact candidates of two soft surfaces.

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

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

pub fn soft_touching(&self) -> Option<bool>

Whether the two soft surfaces of this pair touch: some feature of one surface is within contact reach of the other, or the two surfaces cross (None for other pairs).

pub fn solver_manifolds_len(&self) -> usize

The number of manifolds seen by the constraints solver, see Self::solver_manifolds.

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

Iterate through the contact manifolds actually seen by the constraints solver.

These are the contact clusters if contact clustering applied to this pair (merging the manifolds sharing nearly the same normal), and the plain Self::manifolds otherwise. The contact impulses applied by the solver are stored in these manifolds.

pub fn total_impulse(&self) -> Vect

The sum of all the contact impulses applied by the solver to the first collider during the last timestep.

Divide by the timestep length to obtain a force.

pub fn total_impulse_magnitude(&self) -> Real

The sum of the magnitudes of all the contact impulses applied during the last timestep.

This is not the magnitude of Self::total_impulse; it is the quantity compared against the contact force event threshold (after conversion to a force).

pub fn max_impulse(&self) -> (Real, Vect)

The magnitude and world-space direction of the strongest contact impulse applied during the last timestep.

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

Finds the contact with the smallest signed distance.

If the colliders involved in this contact pair are penetrating, then this returns the contact with the largest penetration depth.

Returns a reference to the contact, as well as the contact manifold it is part of.