Struct nphysics3d::detection::ColliderContactManifold

pub struct ColliderContactManifold<'a, N: Real> {
    pub collider1: &'a Collider<N>,
    pub collider2: &'a Collider<N>,
    pub pos_wrt_body1: Isometry<N>,
    pub pos_wrt_body2: Isometry<N>,
    pub manifold: &'a ContactManifold<N>,
}

A contact manifold between two bodies.

Fields

collider1: &'a Collider<N>

The first collider involved in the contact.

collider2: &'a Collider<N>

The second collider involved in the contact.

pos_wrt_body1: Isometry<N>

The position of the contact manifold wrt. the first body.

This is the frame in which the contact kinematic informations are expressed relative to the first body. This can be different from collider1.position_wrt_body() when the collider has a composite shape.

pos_wrt_body2: Isometry<N>

The position of the contact manifold wrt. the second body.

This is the frame in which the contact kinematic informations are expressed relative to the second body. This can be different from collider2.position_wrt_body() when the collider has a composite shape.

manifold: &'a ContactManifold<N>

The contact manifold.

Methods

impl<'a, N: Real> ColliderContactManifold<'a, N>

pub fn new(     collider1: &'a Collider<N>,     collider2: &'a Collider<N>,     manifold: &'a ContactManifold<N> ) -> Self

Initialize a new contact manifold.

pub fn len(&self) -> usize

The number of contacts on the manifold.

Important traits for &'a [u8]

impl<'a> Read for &'a [u8]impl<'a> Write for &'a mut [u8]

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

Get all the contacts from the manifold.

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

Get the deepest contact, if any, from the manifold.

pub fn body1(&self) -> BodyHandle

The handle of the first body part involved in the contact.

pub fn body2(&self) -> BodyHandle

The handle of the first body part involved in the contact.

Trait Implementations

impl<'a, N: Clone + Real> Clone for ColliderContactManifold<'a, N>

fn clone(&self) -> ColliderContactManifold<'a, N>

Returns a copy of the value.

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

Performs copy-assignment from source.