Struct ContactPoint 

pub struct ContactPoint {
    pub point: Vec3,
    pub normal: Vec3,
    pub penetration: f32,
    pub local_point_a: Vec3,
    pub local_point_b: Vec3,
    pub normal_impulse: f32,
    pub tangent_impulse: Vec3,
}

A single contact point between two colliding bodies.

normal always points from body A toward body B (the separating direction for body A). Both local_point_* fields are populated by the dispatcher for warm-starting the constraint solver across frames.

Fields

point: Vec3

World-space contact position (midpoint on the contact surface).

normal: Vec3

Contact normal, pointing from A to B (unit vector).

penetration: f32

Penetration depth. Positive for a real overlap (discrete contact); a negative value marks a speculative CCD contact and encodes the separation gap the solver may close this step (see Gjk::speculative_contact).

local_point_a: Vec3

point expressed in body A’s local space (set by the dispatcher).

local_point_b: Vec3

point expressed in body B’s local space (set by the dispatcher).

normal_impulse: f32

Accumulated normal impulse — reused for warm-starting.

tangent_impulse: Vec3

Accumulated tangential impulse — reused for warm-starting.

Trait Implementations

impl Clone for ContactPoint

fn clone(&self) -> ContactPoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ContactPoint

impl Debug for ContactPoint

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

Formats the value using the given formatter.

impl Default for ContactPoint

fn default() -> ContactPoint

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ContactPoint

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FromIterator<ContactPoint> for ContactPoints

fn from_iter<I>(iter: I) -> ContactPoints

where I: IntoIterator<Item = ContactPoint>,

Creates a value from an iterator.

impl PartialEq for ContactPoint

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

Equality operator ==.

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

Inequality operator !=.

impl Serialize for ContactPoint

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ContactPoint