Trait parry3d::query::details::NormalConstraints

pub trait NormalConstraints: 'static {
    // Required method
    fn project_local_normal_mut(&self, normal: &mut Vector<Real>) -> bool;

    // Provided methods
    fn project_local_normal(&self, normal: Vector<Real>) -> Option<Vector<Real>> { ... }
    fn project_local_normal1(
        &self,
        pos12: &Isometry<Real>,
        normal1: &mut Vector<Real>,
        normal2: &mut Vector<Real>
    ) -> bool { ... }
    fn project_local_normal2(
        &self,
        pos12: &Isometry<Real>,
        normal1: &mut Vector<Real>,
        normal2: &mut Vector<Real>
    ) -> bool { ... }
}

Constraints of contact normals, generally for internal edges resolution.

This trait used for applying constraints on normal direction for contact manifolds calculation. Non-convex shapes will generally simplify collision-detection as a collection of simpler convex-based collision-detection problems. However, that partial convex formulation allows some contact normals that are theoretically impossible (in a convex analysis sense). The normal constraints aims to correct/remove invalid normals, avoiding some artifacts in physics simulations. In particular, this addresses the well-known “internal edges” problem on triangle meshes and heightfields.

Required Methods

fn project_local_normal_mut(&self, normal: &mut Vector<Real>) -> bool

Corrects in-place or discards the specified normal (assumed to be unit-sized) based on the constraints encoded by Self.

If this method returns false then the contacts associated to that normal should be considered invalid and be ignored by the collision-detection pipeline.

Provided Methods

fn project_local_normal(&self, normal: Vector<Real>) -> Option<Vector<Real>>

Corrects or discards the specified normal (assumed to be unit-sized) based on the constraints encoded by Self.

If this method returns None then the contacts associated to that normal should be considered invalid and be ignored by the collision-detection pipeline.

fn project_local_normal1( &self, pos12: &Isometry<Real>, normal1: &mut Vector<Real>, normal2: &mut Vector<Real> ) -> bool

Applies normal correction to the unit vectors normal1 and normal2 based on the assumption that normal1 is in the same coordinates space as Self.

The normal2 will be modified to be equal to -normal1 expressed in the local coordinate space of the second shape.

If this method returns false then the contacts associated to that normal should be considered invalid and be ignored by the collision-detection pipeline.

fn project_local_normal2( &self, pos12: &Isometry<Real>, normal1: &mut Vector<Real>, normal2: &mut Vector<Real> ) -> bool

Applies normal correction to the unit vectors normal1 and normal2 based on the assumption that normal2 is in the same coordinates space as Self.

The normal1 will be modified to be equal to -normal2 expressed in the local coordinate space of the first shape.

If this method returns false then the contacts associated to that normal should be considered invalid and be ignored by the collision-detection pipeline.

Implementations on Foreign Types

impl NormalConstraints for ()

fn project_local_normal_mut(&self, _: &mut Vector<Real>) -> bool

Implementors

impl NormalConstraints for TrianglePseudoNormals