Struct ContactConstraint 

pub struct ContactConstraint {
    pub body_a: usize,
    pub body_b: usize,
    pub contact: Contact,
    pub friction: Fix128,
    pub restitution: Fix128,
    pub cached_lambda: Fix128,
}

Contact constraint (from collision detection)

Fields

body_a: usize

Index of the first body

body_b: usize

Index of the second body

contact: Contact

Contact information from collision detection

friction: Fix128

Friction coefficient

restitution: Fix128

Restitution (bounciness) coefficient

cached_lambda: Fix128

Contact multiplier accumulated over the substep the contact lives in (contacts are re-detected every substep since 1.2.0): the separation along contact.normal already applied by earlier solver iterations.

Implementations

impl ContactConstraint

pub fn new(body_a: usize, body_b: usize, contact: Contact) -> Self

Create a new contact constraint with default friction and restitution

Trait Implementations

impl Clone for ContactConstraint

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ContactConstraint

impl Debug for ContactConstraint

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

Formats the value using the given formatter.

impl Eq for ContactConstraint

impl PartialEq for ContactConstraint

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for ContactConstraint