Struct rapier3d::geometry::Contact

pub struct Contact {
    pub local_p1: Point<f32>,
    pub local_p2: Point<f32>,
    pub impulse: f32,
    pub tangent_impulse: [f32; 2],
    pub fid1: u8,
    pub fid2: u8,
    pub dist: f32,
}

A single contact between two collider.

Fields

local_p1: Point<f32>

The contact point in the local-space of the first collider.

local_p2: Point<f32>

The contact point in the local-space of the second collider.

impulse: f32

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

The impulse applied to the second collider's rigid-body is given by -impulse.

tangent_impulse: [f32; 2]

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

fid1: u8

The identifier of the subshape of the first collider involved in this contact.

For primitive shapes like cuboid, ball, etc., this is 0. For shapes like trimesh and heightfield this identifies the specific triangle involved in the contact.

fid2: u8

The identifier of the subshape of the second collider involved in this contact.

For primitive shapes like cuboid, ball, etc., this is 0. For shapes like trimesh and heightfield this identifies the specific triangle involved in the contact.

dist: f32

The distance between the two colliders along the contact normal.

If this is negative, the colliders are penetrating.

Trait Implementations

impl Clone for Contact

pub fn clone(&self) -> Contact

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Contact

impl Debug for Contact

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

Formats the value using the given formatter.