Struct RigidPairContacts 

pub struct RigidPairContacts {
    pub manifolds: Vec<ContactManifold>,
    pub solver_clusters: Vec<ContactManifold>,
    /* private fields */
}

The contact manifolds of a ContactPair, with the solver’s bookkeeping about them.

Fields

manifolds: Vec<ContactManifold>

The set of contact manifolds between the two colliders.

All contact manifold contain themselves contact points between the colliders. Note that contact points in the contact manifold do not take into account the Collider::contact_skin which only affects the constraint solver and the SolverContact.

solver_clusters: Vec<ContactManifold>

Cluster manifolds handed to the constraint solver instead of manifolds when contact clustering applies (see IntegrationParameters::contact_clustering); empty otherwise. They merge the points of manifolds sharing (nearly) the same contact normal and hold the contact impulses actually applied by the solver.

Implementations

impl RigidPairContacts

pub fn solver_manifolds(&self) -> &[ContactManifold]

The manifolds actually seen by the constraint solver: the contact clusters if clustering applied to this pair, the plain manifolds otherwise.

pub fn has_any_active_contact(&self) -> bool

Is there any active contact among this side’s solver manifolds?

Trait Implementations

impl Clone for RigidPairContacts

fn clone(&self) -> RigidPairContacts

Returns a duplicate of the value.

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

Performs copy-assignment from source.