Struct parry3d::query::contact::Contact

source · 
pub struct Contact {
    pub point1: Point<Real>,
    pub point2: Point<Real>,
    pub normal1: Unit<Vector<Real>>,
    pub normal2: Unit<Vector<Real>>,
    pub dist: Real,
}
Expand description

Geometric description of a contact.

Fields§

§point1: Point<Real>

Position of the contact on the first object.

§point2: Point<Real>

Position of the contact on the second object.

§normal1: Unit<Vector<Real>>

Contact normal, pointing towards the exterior of the first shape.

§normal2: Unit<Vector<Real>>

Contact normal, pointing towards the exterior of the second shape.

If these contact data are expressed in world-space, this normal is equal to -normal1.

§dist: Real

Distance between the two contact points.

If this is negative, this contact represents a penetration.

Implementations§

source§

impl Contact

source

pub fn new( point1: Point<Real>, point2: Point<Real>, normal1: Unit<Vector<Real>>, normal2: Unit<Vector<Real>>, dist: Real ) -> Self

Creates a new contact.

source§

impl Contact

source

pub fn flip(&mut self)

Swaps the points and normals of this contact.

source

pub fn flipped(self) -> Self

Returns a new contact containing the swapped points and normals of self.

source

pub fn transform_by_mut(&mut self, pos1: &Isometry<Real>, pos2: &Isometry<Real>)

Transform the points and normals from this contact by the given transformations.

source

pub fn transform1_by_mut(&mut self, pos: &Isometry<Real>)

Transform self.point1 and self.normal1 by the pos.

Trait Implementations§

source§

impl Clone for Contact

source§

fn clone(&self) -> Contact

Returns a copy of the value. Read more
1.0.0 · source§

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

Performs copy-assignment from source. Read more
source§

impl Debug for Contact

source§

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

Formats the value using the given formatter. Read more
source§

impl PartialEq for Contact

source§

fn eq(&self, other: &Contact) -> bool

This method tests for self and other values to be equal, and is used by ==.
1.0.0 · source§

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
source§

impl Copy for Contact

source§

impl StructuralPartialEq for Contact

Auto Trait Implementations§

Blanket Implementations§

source§

impl<T> Any for T
where T: 'static + ?Sized,

source§

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
source§

impl<T> Borrow<T> for T
where T: ?Sized,

source§

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
source§

impl<T> BorrowMut<T> for T
where T: ?Sized,

source§

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
source§

impl<T> Downcast for T
where T: Any,

source§

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

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.
source§

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
source§

fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
source§

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
source§

impl<T> DowncastSync for T
where T: Any + Send + Sync,

source§

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
source§

impl<T> From<T> for T

source§

fn from(t: T) -> T

Returns the argument unchanged.

source§

impl<T, U> Into<U> for T
where U: From<T>,

source§

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

source§

impl<T> IntoEither for T

source§

fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
source§

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
source§

impl<T> Same for T

§

type Output = T

Should always be Self
source§

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

source§

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
source§

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
source§

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
source§

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
source§

impl<T> ToOwned for T
where T: Clone,

§

type Owned = T

The resulting type after obtaining ownership.
source§

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
source§

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
source§

impl<T, U> TryFrom<U> for T
where U: Into<T>,

§

type Error = Infallible

The type returned in the event of a conversion error.
source§

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
source§

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

§

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
source§

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
source§

impl<T> Scalar for T
where T: 'static + Clone + PartialEq + Debug,