Struct heron::rapier_plugin::rapier3d::pipeline::ContactModificationContext
pub struct ContactModificationContext<'a> {
pub bodies: &'a RigidBodySet,
pub colliders: &'a ColliderSet,
pub collider1: ColliderHandle,
pub collider2: ColliderHandle,
pub rigid_body1: Option<RigidBodyHandle>,
pub rigid_body2: Option<RigidBodyHandle>,
pub manifold: &'a ContactManifold<ContactManifoldData, ContactData>,
pub solver_contacts: &'a mut Vec<SolverContact, Global>,
pub normal: &'a mut Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub user_data: &'a mut u32,
}
Expand description
Context given to custom contact modifiers to modify the contacts seen by the constraints solver.
Fields
bodies: &'a RigidBodySet
The set of rigid-bodies.
colliders: &'a ColliderSet
The set of colliders.
collider1: ColliderHandle
The handle of the first collider involved in the potential collision.
collider2: ColliderHandle
The handle of the first collider involved in the potential collision.
rigid_body1: Option<RigidBodyHandle>
The handle of the first body involved in the potential collision.
rigid_body2: Option<RigidBodyHandle>
The handle of the first body involved in the potential collision.
manifold: &'a ContactManifold<ContactManifoldData, ContactData>
The contact manifold.
solver_contacts: &'a mut Vec<SolverContact, Global>
The solver contacts that can be modified.
normal: &'a mut Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
The contact normal that can be modified.
user_data: &'a mut u32
User-defined data attached to the manifold.
Implementations
impl<'a> ContactModificationContext<'a>
impl<'a> ContactModificationContext<'a>
pub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
allowed_angle: f32
)
pub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
allowed_angle: f32
)
Helper function to update self
to emulate a oneway-platform.
The “oneway” behavior will only allow contacts between two colliders
if the local contact normal of the first collider involved in the contact
is almost aligned with the provided allowed_local_n1
direction.
To make this method work properly it must be called as part of the
PhysicsHooks::modify_solver_contacts
method at each timestep, for each
contact manifold involving a one-way platform. The self.user_data
field
must not be modified from the outside of this method.
Auto Trait Implementations
impl<'a> !RefUnwindSafe for ContactModificationContext<'a>
impl<'a> Send for ContactModificationContext<'a>
impl<'a> Sync for ContactModificationContext<'a>
impl<'a> Unpin for ContactModificationContext<'a>
impl<'a> !UnwindSafe for ContactModificationContext<'a>
Blanket Implementations
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