Struct mgf::PhysicsState

pub struct PhysicsState {
    pub restitution: f32,
    pub friction: f32,
    pub inv_mass: f32,
    pub inv_moment: Matrix3<f32>,
    pub x: Point3<f32>,
    pub v: Vector3<f32>,
    pub omega: Vector3<f32>,
}

A description of the physical state of an object.

Fields

restitution: f32

Restitution is a measure of how much kinetic energy is retained in a collision. 100% of kinetic energy retention corresponds to a coefficient of one.

friction: f32

We simplify friction in this case to simply be a ratio of the normal force applied tangentially to an object during collision.

inv_mass: f32

We only ever need inverse mass for calcuations, plus it gives a neat advantage that we can represent immovable objects with an infinite mass, or an inverse mass of zero.

inv_moment: Matrix3<f32>

The inverse moment of inertia tensor of the object correctly oriented.

x: Point3<f32>

The position of the object at the end of the timestep.

v: Vector3<f32>

The linear velocity of the object

omega: Vector3<f32>

The angular velocity of the object

Methods

impl PhysicsState

fn resolve_contact<Config, ObjA, ObjB>(
    obj_a: &mut ObjA,
    obj_b: &mut ObjB,
    contact: &LocalContact,
    dt: f32
) where
    Config: PhysicsConfig,
    ObjA: PhysicsObject,
    ObjB: PhysicsObject, 

Perform collision resolution on two physics states from a contact and a timestep.

fn resolve_manifold<Config, ObjA, ObjB>(
    obj_a: &mut ObjA,
    obj_b: &mut ObjB,
    manifold: &Manifold,
    dt: f32
) where
    Config: PhysicsConfig,
    ObjA: PhysicsObject,
    ObjB: PhysicsObject, 

Perform collision resolution from a manifold. This is the preferred method for resolving two bodies.

Trait Implementations

impl Copy for PhysicsState

impl Clone for PhysicsState

fn clone(&self) -> PhysicsState

Returns a copy of the value.

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

Performs copy-assignment from source.