Struct parry2d::query::contact::Contact

pub struct Contact {
    pub point1: Point<Real>,
    pub point2: Point<Real>,
    pub normal1: Unit<Vector<Real>>,
    pub normal2: Unit<Vector<Real>>,
    pub dist: Real,
}

Geometric description of a contact.

Fields

point1: Point<Real>

Position of the contact on the first object.

point2: Point<Real>

Position of the contact on the second object.

normal1: Unit<Vector<Real>>

Contact normal, pointing towards the exterior of the first shape.

normal2: Unit<Vector<Real>>

Contact normal, pointing towards the exterior of the second shape.

If these contact data are expressed in world-space, this normal is equal to -normal1.

dist: Real

Distance between the two contact points.

If this is negative, this contact represents a penetration.

Implementations

impl Contact

pub fn new(
    point1: Point<Real>,
    point2: Point<Real>,
    normal1: Unit<Vector<Real>>,
    normal2: Unit<Vector<Real>>,
    dist: Real
) -> Self

Creates a new contact.

impl Contact

pub fn flip(&mut self)

Swaps the points and normals of this contact.

pub fn flipped(self) -> Self

Returns a new contact containing the swapped points and normals of self.

pub fn transform_by_mut(&mut self, pos1: &Isometry<Real>, pos2: &Isometry<Real>)

Transform the points and normals from this contact by the given transformations.

pub fn transform1_by_mut(&mut self, pos: &Isometry<Real>)

Transform self.point1 and self.normal1 by the pos.

Trait Implementations

impl Clone for Contact

fn clone(&self) -> Contact

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Contact

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

Formats the value using the given formatter.

impl PartialEq<Contact> for Contact

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=.

impl Copy for Contact

impl StructuralPartialEq for Contact