Struct SolverContactGeneric 

#[repr(C, align(16))]
pub struct SolverContactGeneric<N: ScalarType, const LANES: usize> {
    pub anchor1: N::Vector,
    pub anchor2: N::Vector,
    pub dist: N,
    pub tangent_velocity: N::Vector,
    pub contact_id: [ContactId; LANES],
}

A contact seen by the constraints solver for computing forces.

Fields

anchor1: N::Vector

The contact point on the first body’s surface (contact skin baked in), in that body’s CoM-centered local frame so it rides rigidly with the body — what lets contact recycling skip the per-frame world refresh. World-space instead for a side without a solver body (none, or world-attached by dominance — fixed bodies included). Inside PhysicsHooks::modify_solver_contacts this always holds the fresh world-space point (hooks run before localization).

anchor2: N::Vector

The contact point on the second body’s surface, expressed like Self::anchor1 (world-space when the second side is world-attached, i.e. relative_dominance < 0, or inside the contact-modification hook).

dist: N

Distance between the contact points along the normal at the last full contact update (negative = penetration), minus the contact skins. Writable from PhysicsHooks::modify_solver_contacts (the delta is baked into the anchors after the hook); afterwards the solver re-derives the live separation and never reads this.

tangent_velocity: N::Vector

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.

contact_id: [ContactId; LANES]

The index of the manifold contact used to generate this solver contact, in the low 31 bits; bit 31 (NEW_CONTACT_BIT) is set if this contact did not exist during the last full contact update (recycled steps leave it untouched; the solver derives contact newness from the warm-start state instead).

Implementations

impl SolverContactGeneric<WideF32x4, SIMD_WIDTH>

pub unsafe fn gather_unchecked( contacts: &[&[SolverContact]; 4], ks: [usize; 4], ) -> Self

Gathers one solver contact per lane, at a per-lane index (the lanes of a constraint chunk may have different active-contact counts, so callers clamp each lane’s index to its own count).

Safety

Every ks[k] must be a valid index into contacts[k] — the gather reads each lane’s slice unchecked.

impl<N: ScalarType, const LANES: usize> SolverContactGeneric<N, LANES>

pub fn contact_indices(&self) -> [ContactId; LANES]

The manifold contact indices, with the is-new bit masked off.

These indices are only valid within the timestep that produced this solver contact: manifold points may be reordered or replaced by the next narrow-phase update.

Trait Implementations

impl<N: Clone + ScalarType, const LANES: usize> Clone for SolverContactGeneric<N, LANES>

where N::Vector: Clone,

fn clone(&self) -> SolverContactGeneric<N, LANES>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N: Copy + ScalarType, const LANES: usize> Copy for SolverContactGeneric<N, LANES>

where N::Vector: Copy,

impl<N: Debug + ScalarType, const LANES: usize> Debug for SolverContactGeneric<N, LANES>

where N::Vector: Debug,

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

Formats the value using the given formatter.