Struct parry3d::query::ContactManifold

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pub struct ContactManifold<ManifoldData, ContactData> {
    pub points: Vec<TrackedContact<ContactData>>,
    pub local_n1: Vector<Real>,
    pub local_n2: Vector<Real>,
    pub subshape1: u32,
    pub subshape2: u32,
    pub subshape_pos1: Option<Isometry<Real>>,
    pub subshape_pos2: Option<Isometry<Real>>,
    pub data: ManifoldData,
}
Expand description

A contact manifold between two shapes.

A contact manifold describes a set of contacts between two shapes. All the contact part of the same contact manifold share the same contact normal and contact kinematics.

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§points: Vec<TrackedContact<ContactData>>

The contacts points.

§local_n1: Vector<Real>

The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.

§local_n2: Vector<Real>

The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.

§subshape1: u32

The first subshape involved in this contact manifold.

This is zero if the first shape is not a composite shape.

§subshape2: u32

The second subshape involved in this contact manifold.

This is zero if the second shape is not a composite shape.

§subshape_pos1: Option<Isometry<Real>>

If the first shape involved is a composite shape, this contains the position of its subshape involved in this contact.

§subshape_pos2: Option<Isometry<Real>>

If the second shape involved is a composite shape, this contains the position of its subshape involved in this contact.

§data: ManifoldData

Additional tracked data associated to this contact manifold.

Implementations§

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impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>

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pub fn new() -> Self
where ManifoldData: Default,

Create a new empty contact-manifold.

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pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self

Create a new empty contact-manifold with the given associated data.

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pub fn take(&mut self) -> Self
where ManifoldData: Clone,

Clones self and then remove all contact points from self.

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pub fn contacts(&self) -> &[TrackedContact<ContactData>]

The slice of all the contacts, active or not, on this contact manifold.

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pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool

Attempts to use spatial coherence to update contacts points.

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pub fn try_update_contacts_eps( &mut self, pos12: &Isometry<Real>, angle_dot_threshold: Real, dist_sq_threshold: Real ) -> bool

Attempts to use spatial coherence to update contacts points, using user-defined tolerances.

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pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])

Copy data associated to contacts from old_contacts to the new contacts in self based on matching their feature-ids.

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pub fn match_contacts_using_positions( &mut self, old_contacts: &[TrackedContact<ContactData>], dist_threshold: Real )

Copy data associated to contacts from old_contacts to the new contacts in self based on matching the contact positions.

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pub fn clear(&mut self)

Removes all the contacts from self.

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pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>

Returns the contact with the smallest distance (i.e. the largest penetration depth).

Trait Implementations§

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impl<ManifoldData: Clone, ContactData: Clone> Clone for ContactManifold<ManifoldData, ContactData>

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fn clone(&self) -> ContactManifold<ManifoldData, ContactData>

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl<ManifoldData: Debug, ContactData: Debug> Debug for ContactManifold<ManifoldData, ContactData>

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

Formats the value using the given formatter. Read more
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impl<ManifoldData: Default, ContactData: Default> Default for ContactManifold<ManifoldData, ContactData>

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fn default() -> ContactManifold<ManifoldData, ContactData>

Returns the “default value” for a type. Read more

Auto Trait Implementations§

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impl<ManifoldData, ContactData> Freeze for ContactManifold<ManifoldData, ContactData>
where ManifoldData: Freeze,

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impl<ManifoldData, ContactData> RefUnwindSafe for ContactManifold<ManifoldData, ContactData>
where ManifoldData: RefUnwindSafe, ContactData: RefUnwindSafe,

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impl<ManifoldData, ContactData> Send for ContactManifold<ManifoldData, ContactData>
where ManifoldData: Send, ContactData: Send,

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impl<ManifoldData, ContactData> Sync for ContactManifold<ManifoldData, ContactData>
where ManifoldData: Sync, ContactData: Sync,

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impl<ManifoldData, ContactData> Unpin for ContactManifold<ManifoldData, ContactData>
where ManifoldData: Unpin, ContactData: Unpin,

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impl<ManifoldData, ContactData> UnwindSafe for ContactManifold<ManifoldData, ContactData>
where ManifoldData: UnwindSafe, ContactData: UnwindSafe,

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

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Gets the TypeId of self. Read more
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Calls U::from(self).

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