Struct mgf::Contact

pub struct Contact {
    pub a: Point3<f32>,
    pub b: Point3<f32>,
    pub n: Vector3<f32>,
    pub t: f32,
}

A point of contact between two objects occuring during a timestep.

Contact models a contact point generated by at least one moving volumetric geometry and some other geometry.

Fields

a: Point3<f32>

Contact point at time of collision for collider in global coordinates.

b: Point3<f32>

Contact point at time of collision for collidee in global coordinates.

n: Vector3<f32>

Collision normal on the surface of the collider.

t: f32

Time of impact. This is guaranteed to be in the interal [0, 1]. Contacts with a time of 0 can be considered resting contacts or a contact from the previous frame.

Methods

impl Contact

fn compute_basis(&self) -> [Vector3<f32>; 2]

Computes an orthonormal basis for the contact. This is usually used to produce tangent vectors for friction contacts. Code taken from http://box2d.org/2014/02/computing-a-basis/

Trait Implementations

impl Copy for Contact

impl Clone for Contact

fn clone(&self) -> Contact

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Contact

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Neg for Contact

type Output = Contact

The resulting type after applying the - operator.

fn neg(self) -> Self

Negate the normal and swap contact points