Struct heron::rapier_plugin::rapier2d::prelude::ContactManifoldData

pub struct ContactManifoldData {
    pub rigid_body1: Option<RigidBodyHandle>,
    pub rigid_body2: Option<RigidBodyHandle>,
    pub solver_flags: SolverFlags,
    pub normal: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
    pub solver_contacts: Vec<SolverContact, Global>,
    pub relative_dominance: i16,
    pub user_data: u32,
}

A contact manifold between two colliders.

A contact manifold describes a set of contacts between two colliders. All the contact part of the same contact manifold share the same contact normal and contact kinematics.

Fields

rigid_body1: Option<RigidBodyHandle>

The first rigid-body involved in this contact manifold.

rigid_body2: Option<RigidBodyHandle>

The second rigid-body involved in this contact manifold.

solver_flags: SolverFlags

Flags used to control some aspects of the constraints solver for this contact manifold.

normal: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>

The world-space contact normal shared by all the contact in this contact manifold.

solver_contacts: Vec<SolverContact, Global>

The contacts that will be seen by the constraints solver for computing forces.

relative_dominance: i16

The relative dominance of the bodies involved in this contact manifold.

user_data: u32

A user-defined piece of data.

Implementations

impl ContactManifoldData

pub fn num_active_contacts(&self) -> usize

Number of actives contacts, i.e., contacts that will be seen by the constraints solver.

Trait Implementations

impl Clone for ContactManifoldData

fn clone(&self) -> ContactManifoldData

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifoldData

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

Formats the value using the given formatter.

impl Default for ContactManifoldData

fn default() -> ContactManifoldData

Returns the “default value” for a type.