Struct SolverContactView 

pub struct SolverContactView<'a> {
    pub manifold_data: &'a ContactManifoldData,
    pub raw: &'a SolverContact,
    /* private fields */
}

Read-only access to the properties of a single solver contact.

Fields

manifold_data: &'a ContactManifoldData

The data of the contact manifold this solver contact is part of.

raw: &'a SolverContact

The raw solver contact from Rapier.

Implementations

impl SolverContactView<'_>

pub fn point(&self) -> Vect

The world-space contact point.

pub fn dist(&self) -> Real

The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.

pub fn friction(&self) -> Real

The effective friction coefficient at this contact point.

pub fn restitution(&self) -> Real

The effective restitution coefficient at this contact point.

pub fn tangent_velocity(&self) -> Vect

The desired tangent relative velocity at the contact point.

This is set to zero by default. Set to a non-zero value to simulate, e.g., conveyor belts.

pub fn is_new(&self) -> bool

Whether or not this contact existed during the last timestep.

pub fn contact_id(&self) -> u32

The index, in its manifold’s contact points, of the contact this solver contact was generated from.

This index is only valid for the timestep that produced this solver contact.

pub fn anchor1(&self) -> Vect

The raw contact point on the first body’s surface, as stored for the solver.

This is expressed in the center-of-mass-centered local frame of the first rigid-body, or in world-space if that side is attached to the world (no rigid-body, or a fixed one). Use Self::world_point1 for a world-space point.

pub fn anchor2(&self) -> Vect

The raw contact point on the second body’s surface, as stored for the solver.

See Self::anchor1 for the frame it is expressed in.

pub fn world_point1(&self) -> Vect

The world-space contact point on the first body’s surface.

pub fn world_point2(&self) -> Vect

The world-space contact point on the second body’s surface.