Struct rapier3d::geometry::SolverContact

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pub struct SolverContact {
    pub point: Point<Real>,
    pub dist: Real,
    pub friction: Real,
    pub restitution: Real,
    pub tangent_velocity: Vector<Real>,
    pub is_new: bool,
    /* private fields */
}
Expand description

A contact seen by the constraints solver for computing forces.

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§point: Point<Real>

The contact point in world-space.

§dist: Real

The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.

§friction: Real

The effective friction coefficient at this contact point.

§restitution: Real

The effective restitution coefficient at this contact point.

§tangent_velocity: Vector<Real>

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.

§is_new: bool

Whether or not this contact existed during the last timestep.

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impl SolverContact

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pub fn is_bouncy(&self) -> bool

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

Trait Implementations§

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impl Clone for SolverContact

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fn clone(&self) -> SolverContact

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for SolverContact

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

Formats the value using the given formatter. Read more
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impl<'de> Deserialize<'de> for SolverContact

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for SolverContact

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

Serialize this value into the given Serde serializer. Read more
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impl Copy for SolverContact

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
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where T: Any + Send + Sync,

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Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
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Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Pointable for T

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const ALIGN: usize = _

The alignment of pointer.
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type Init = T

The type for initializers.
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unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
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unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
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unsafe fn drop(ptr: usize)

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type Output = T

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The inverse inclusion map: attempts to construct self from the equivalent element of its superset. 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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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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The resulting type after obtaining ownership.
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Performs the conversion.
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