Struct rapier3d::geometry::ContactPair

pub struct ContactPair {
    pub collider1: ColliderHandle,
    pub collider2: ColliderHandle,
    pub manifolds: Vec<ContactManifold>,
    pub has_any_active_contact: bool,
    /* private fields */
}

The description of all the contacts between a pair of colliders.

Fields

collider1: ColliderHandle

The first collider involved in the contact pair.

collider2: ColliderHandle

The second collider involved in the contact pair.

manifolds: Vec<ContactManifold>

The set of contact manifolds between the two colliders.

All contact manifold contain themselves contact points between the colliders. Note that contact points in the contact manifold do not take into account the [Collider::contact_skin] which only affects the constraint solver and the SolverContact.

has_any_active_contact: bool

Is there any active contact in this contact pair?

Implementations

impl ContactPair

pub fn clear(&mut self)

Clears all the contacts of this contact pair.

pub fn total_impulse(&self) -> Vector<Real>

The sum of all the impulses applied by contacts on this contact pair.

pub fn total_impulse_magnitude(&self) -> Real

The sum of the magnitudes of the contacts on this contact pair.

pub fn max_impulse(&self) -> (Real, Vector<Real>)

The magnitude and (unit) direction of the maximum impulse on this contact pair.

pub fn find_deepest_contact(&self) -> Option<(&ContactManifold, &Contact)>

Finds the contact with the smallest signed distance.

If the colliders involved in this contact pair are penetrating, then this returns the contact with the largest penetration depth.

Returns a reference to the contact, as well as the contact manifold it is part of.

Trait Implementations

impl Clone for ContactPair

fn clone(&self) -> ContactPair

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<'de> Deserialize<'de> for ContactPair

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ContactPair

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.