Struct SolverContact

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pub struct SolverContact {
    pub point: Point<f32>,
    pub dist: f32,
    pub friction: f32,
    pub restitution: f32,
    pub tangent_velocity: Vector<f32>,
    pub is_new: bool,
    pub warmstart_impulse: f32,
    pub warmstart_tangent_impulse: TangentImpulse<f32>,
    /* private fields */
}

Expand description

A contact seen by the constraints solver for computing forces.

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§point: Point<f32>

The contact point in world-space.

§dist: f32

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

§friction: f32

The effective friction coefficient at this contact point.

§restitution: f32

The effective restitution coefficient at this contact point.

§tangent_velocity: Vector<f32>

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.

§is_new: bool

Whether or not this contact existed during the last timestep.

§warmstart_impulse: f32

Impulse used to warmstart the solve for the normal constraint.

§warmstart_tangent_impulse: TangentImpulse<f32>

Impulse used to warmstart the solve for the friction constraints.

Implementations§

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impl SolverContact

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pub fn is_bouncy(&self) -> bool

Should we treat this contact as a bouncy contact? If true, use Self::restitution.

Trait Implementations§

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impl Clone for SolverContact

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fn clone(&self) -> SolverContact

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 Debug for SolverContact

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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 Copy for SolverContact

Auto Trait Implementations§

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impl UnwindSafe for SolverContact

Blanket Implementations§

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

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

Mutably borrows from an owned value. Read more

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

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unsafe fn clone_to_uninit(&self, dst: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dst. Read more

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

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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.

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

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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.

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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.

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

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

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

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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

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fn into(self) -> U

Calls U::from(self).

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

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impl<T> IntoEither for T

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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

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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

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