Struct heron::rapier_plugin::rapier::geometry::SolverContact [−]
pub struct SolverContact { pub point: Point<f32, 3_usize>, pub dist: f32, pub friction: f32, pub restitution: f32, pub tangent_velocity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, pub warmstart_impulse: f32, pub warmstart_tangent_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>, pub prev_rhs: f32, // some fields omitted }
A contact seen by the constraints solver for computing forces.
Fields
point: Point<f32, 3_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, 3_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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
The warmstart friction impulses along the basis 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
pub fn is_bouncy(&self) -> bool
Should we treat this contact as a bouncy contact?
If true
, use Self::restitution
.
Trait Implementations
impl Clone for SolverContact
pub fn clone(&self) -> SolverContact
pub fn clone_from(&mut self, source: &Self)
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impl Copy for SolverContact
impl Debug 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
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
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T: Any,
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T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Any + Clone,
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impl<T> Component for T where
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
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U: From<T>,
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pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
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Should always be Self
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The resulting type after obtaining ownership.
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pub fn clone_into(&self, target: &mut T)
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The type returned in the event of a conversion error.
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U: TryFrom<T>,
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The type returned in the event of a conversion error.
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