Struct ManifoldPoint 

pub struct ManifoldPoint {
    pub anchor_a: Vec2,
    pub anchor_b: Vec2,
    pub separation: f32,
    pub base_separation: f32,
    pub normal_impulse: f32,
    pub tangent_impulse: f32,
    pub total_normal_impulse: f32,
    pub normal_velocity: f32,
    pub id: u16,
    pub persisted: bool,
}

A solver contact point inside a runtime world manifold.

The anchors are f32 offsets from each body’s center of mass, not absolute world positions. Reconstruct an absolute contact position by offsetting the corresponding body’s world center Position.

Fields

anchor_a: Vec2

Contact point relative to body A’s center of mass in world axes.

anchor_b: Vec2

Contact point relative to body B’s center of mass in world axes.

separation: f32

Signed separation; negative values indicate penetration.

base_separation: f32

Cached separation used by Box2D when recycling contacts.

normal_impulse: f32

Impulse along the manifold normal.

tangent_impulse: f32

Friction impulse along the tangent.

total_normal_impulse: f32

Total normal impulse accumulated across substeps and restitution.

normal_velocity: f32

Relative normal velocity before solving; negative values are approaching.

id: u16

Stable feature-pair identifier supplied by Box2D.

persisted: bool

Whether this point existed during the previous step.

Implementations

impl ManifoldPoint

pub fn world_point_a(self, body_a_world_center: Position) -> Position

Reconstructs this contact point from body A’s absolute world center.

pub fn world_point_b(self, body_b_world_center: Position) -> Position

Reconstructs this contact point from body B’s absolute world center.

pub fn from_raw(raw: b2ManifoldPoint) -> Result<Self>

pub fn validate(&self) -> Result<()>

pub fn into_raw(self) -> b2ManifoldPoint

Trait Implementations

impl Clone for ManifoldPoint

fn clone(&self) -> ManifoldPoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ManifoldPoint

impl Debug for ManifoldPoint

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

Formats the value using the given formatter.

impl Default for ManifoldPoint

fn default() -> ManifoldPoint

Returns the “default value” for a type.

impl PartialEq for ManifoldPoint

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for ManifoldPoint