Struct bevy_rapier3d::prelude::SolverContact[−][src]

pub struct SolverContact {
    pub point: Point<f32, 3_usize>,
    pub dist: f32,
    pub friction: f32,
    pub restitution: f32,
    pub tangent_velocity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    pub warmstart_impulse: f32,
    pub warmstart_tangent_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
    pub prev_rhs: f32,
    // some fields omitted
}
Expand description

A contact seen by the constraints solver for computing forces.

Fields

point: Point<f32, 3_usize>

The world-space contact point.

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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

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.

warmstart_impulse: f32

The warmstart impulse, along the contact normal, applied by this contact to the first collider’s rigid-body.

warmstart_tangent_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>

The warmstart friction impulses along the basis orthonormal to the contact normal, applied to the first collider’s rigid-body.

prev_rhs: f32

The last velocity correction targeted by this contact.

Implementations

impl SolverContact[src]

pub fn is_bouncy(&self) -> bool[src]

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

Trait Implementations

impl Clone for SolverContact[src]

pub fn clone(&self) -> SolverContact[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl Debug for SolverContact[src]

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>[src]

Formats the value using the given formatter. Read more

impl Copy for SolverContact[src]

Auto Trait Implementations

Blanket Implementations

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

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Immutably borrows from an owned value. Read more

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Performs the conversion.

impl<T> Instrument for T[src]

fn instrument(self, span: Span) -> Instrumented<Self>[src]

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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Instruments this type with the current Span, returning an Instrumented wrapper. Read more

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Performs the conversion.

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pub const ALIGN: usize

The alignment of pointer.

type Init = T

The type for initializers.

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

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Checks if self is actually part of its subset T (and can be converted to it).

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impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

pub fn to_owned(&self) -> T[src]

Creates owned data from borrowed data, usually by cloning. Read more

pub fn clone_into(&self, target: &mut T)[src]

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

recently added

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impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

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Performs the conversion.

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    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

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Performs the conversion.

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