Struct ncollide2d::query::ContactManifold

pub struct ContactManifold<N: Real> { /* fields omitted */ }

A contact manifold.

A contat manifold is a set of contacts lying on the same plane. The convex hull of those contacts are often interpreted as a contact surface. This structure is responsible for matching new contacts with old ones in order to perform an approximat tracking of the contact points.

Methods

impl<N: Real> ContactManifold<N>

pub fn new() -> Self

Initializes a contact manifold without any contact.

pub fn subshape_id1(&self) -> usize

The identifier of the first sub-shape the contacts of this manifold lie on.

pub fn set_subshape_id1(&mut self, id: usize)

Sets the identifier of the first sub-shape the contacts of this manifold lie on.

pub fn subshape_id2(&self) -> usize

The identifier of the first sub-shape the contacts of this manifold lie on.

pub fn set_subshape_id2(&mut self, id: usize)

Sets the identifier of the first sub-shape the contacts of this manifold lie on.

pub fn len(&self) -> usize

The number of contacts contained by this manifold.

pub fn contacts(&self) -> &[TrackedContact<N>]

All the contact tracked by this manifold.

pub fn deepest_contact_id(&self) -> usize

The index of the contact with the greatest penetration depth.

pub fn deepest_contact(&self) -> Option<&TrackedContact<N>>

The contact of this manifold with the deepest penetration depth.

pub fn save_cache_and_clear(&mut self, gen: &mut IdAllocator)

Save the contacts to a cache and empty the manifold.

pub fn push(
    &mut self,
    contact: Contact<N>,
    kinematic: ContactKinematic<N>,
    gen: &mut IdAllocator
) -> bool

Add a new contact to the manifold.

The manifold will attempt to match this contact with another one previously added and added to the cache by the last call to save_cache_and_clear. The matching is done by spacial proximity, i.e., two contacts that are sufficiently close will be given the same identifer.

Trait Implementations

impl<N: Clone + Real> Clone for ContactManifold<N>

fn clone(&self) -> ContactManifold<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + Real> Debug for ContactManifold<N>

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

Formats the value using the given formatter.