Struct heron::rapier_plugin::rapier2d::prelude::SolverContact [−]
pub struct SolverContact {
pub point: OPoint<f32, Const<2_usize>>,
pub dist: f32,
pub friction: f32,
pub restitution: f32,
pub tangent_velocity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
pub warmstart_impulse: f32,
pub warmstart_tangent_impulse: f32,
pub prev_rhs: f32,
// some fields omitted
}
Expand description
A contact seen by the constraints solver for computing forces.
Fields
point: OPoint<f32, Const<2_usize>>
The world-space contact point.
dist: f32
The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.
friction: f32
The effective friction coefficient at this contact point.
restitution: f32
The effective restitution coefficient at this contact point.
tangent_velocity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
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.
warmstart_impulse: f32
The warmstart impulse, along the contact normal, applied by this contact to the first collider’s rigid-body.
warmstart_tangent_impulse: f32
The warmstart friction impulse along the vector orthonormal to the contact normal, applied to the first collider’s rigid-body.
prev_rhs: f32
The last velocity correction targeted by this contact.
Implementations
impl SolverContact
impl SolverContact
Should we treat this contact as a bouncy contact?
If true
, use Self::restitution
.
Trait Implementations
impl Clone for SolverContact
impl Clone for SolverContact
pub fn clone(&self) -> SolverContact
pub fn clone(&self) -> SolverContact
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
impl Debug for SolverContact
impl Debug for SolverContact
impl Copy for SolverContact
Auto Trait Implementations
impl RefUnwindSafe for SolverContact
impl Send for SolverContact
impl Sync for SolverContact
impl Unpin for SolverContact
impl UnwindSafe for SolverContact
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more