Struct heron::rapier_plugin::rapier3d::parry::query::details::ContactManifold
source · pub struct ContactManifold<ManifoldData, ContactData> {
pub points: Vec<TrackedContact<ContactData>, Global>,
pub local_n1: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub local_n2: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub subshape1: u32,
pub subshape2: u32,
pub subshape_pos1: Option<Isometry<f32, Unit<Quaternion<f32>>, 3>>,
pub subshape_pos2: Option<Isometry<f32, Unit<Quaternion<f32>>, 3>>,
pub data: ManifoldData,
}
Expand description
A contact manifold between two shapes.
A contact manifold describes a set of contacts between two shapes. All the contact part of the same contact manifold share the same contact normal and contact kinematics.
Fields
points: Vec<TrackedContact<ContactData>, Global>
The contacts points.
local_n1: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.
local_n2: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.
subshape1: u32
The first subshape involved in this contact manifold.
This is zero if the first shape is not a composite shape.
subshape2: u32
The second subshape involved in this contact manifold.
This is zero if the second shape is not a composite shape.
subshape_pos1: Option<Isometry<f32, Unit<Quaternion<f32>>, 3>>
If the first shape involved is a composite shape, this contains the position of its subshape involved in this contact.
subshape_pos2: Option<Isometry<f32, Unit<Quaternion<f32>>, 3>>
If the second shape involved is a composite shape, this contains the position of its subshape involved in this contact.
data: ManifoldData
Additional tracked data associated to this contact manifold.
Implementations
sourceimpl<ManifoldData, ContactData> ContactManifold<ManifoldData, ContactData>where
ContactData: Default + Copy,
impl<ManifoldData, ContactData> ContactManifold<ManifoldData, ContactData>where
ContactData: Default + Copy,
sourcepub fn new() -> ContactManifold<ManifoldData, ContactData>where
ManifoldData: Default,
pub fn new() -> ContactManifold<ManifoldData, ContactData>where
ManifoldData: Default,
Create a new empty contact-manifold.
sourcepub fn with_data(
subshape1: u32,
subshape2: u32,
data: ManifoldData
) -> ContactManifold<ManifoldData, ContactData>
pub fn with_data(
subshape1: u32,
subshape2: u32,
data: ManifoldData
) -> ContactManifold<ManifoldData, ContactData>
Create a new empty contact-manifold with the given associated data.
sourcepub fn take(&mut self) -> ContactManifold<ManifoldData, ContactData>where
ManifoldData: Clone,
pub fn take(&mut self) -> ContactManifold<ManifoldData, ContactData>where
ManifoldData: Clone,
Clones self
and then remove all contact points from self
.
sourcepub fn contacts(&self) -> &[TrackedContact<ContactData>]
pub fn contacts(&self) -> &[TrackedContact<ContactData>]
The slice of all the contacts, active or not, on this contact manifold.
sourcepub fn try_update_contacts(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> bool
pub fn try_update_contacts(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> bool
Attempts to use spatial coherence to update contacts points.
sourcepub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
angle_dot_threshold: f32,
dist_sq_threshold: f32
) -> bool
pub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<f32, Unit<Quaternion<f32>>, 3>,
angle_dot_threshold: f32,
dist_sq_threshold: f32
) -> bool
Attempts to use spatial coherence to update contacts points, using user-defined tolerances.
sourcepub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching their feature-ids.
sourcepub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: f32
)
pub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: f32
)
Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching the contact positions.
sourcepub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
Returns the contact with the smallest distance (i.e. the largest penetration depth).
Trait Implementations
sourceimpl<ManifoldData, ContactData> Clone for ContactManifold<ManifoldData, ContactData>where
ManifoldData: Clone,
ContactData: Clone,
impl<ManifoldData, ContactData> Clone for ContactManifold<ManifoldData, ContactData>where
ManifoldData: Clone,
ContactData: Clone,
sourcefn clone(&self) -> ContactManifold<ManifoldData, ContactData>
fn clone(&self) -> ContactManifold<ManifoldData, ContactData>
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moreAuto Trait Implementations
impl<ManifoldData, ContactData> RefUnwindSafe for ContactManifold<ManifoldData, ContactData>where
ContactData: RefUnwindSafe,
ManifoldData: RefUnwindSafe,
impl<ManifoldData, ContactData> Send for ContactManifold<ManifoldData, ContactData>where
ContactData: Send,
ManifoldData: Send,
impl<ManifoldData, ContactData> Sync for ContactManifold<ManifoldData, ContactData>where
ContactData: Sync,
ManifoldData: Sync,
impl<ManifoldData, ContactData> Unpin for ContactManifold<ManifoldData, ContactData>where
ContactData: Unpin,
ManifoldData: Unpin,
impl<ManifoldData, ContactData> UnwindSafe for ContactManifold<ManifoldData, ContactData>where
ContactData: UnwindSafe,
ManifoldData: UnwindSafe,
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