Struct CollisionEstimate 

#[non_exhaustive]
pub struct CollisionEstimate {
    pub linear_velocity1: Vec3,
    pub angular_velocity1: Vec3,
    pub linear_velocity2: Vec3,
    pub angular_velocity2: Vec3,
    pub contact_impulses: Vec<f32>,
    pub tangent1: Vec3,
    pub tangent2: Vec3,
    pub friction_impulse1: f32,
    pub friction_impulse2: f32,
    pub angular_friction_impulse: f32,
}

What Jolt estimates a new contact does to its two bodies, before the solver runs (Jolt EstimateCollisionResponse), from ContactEvent::Added when EventSettings::collision_estimates is on.

Jolt solves the contact of the two bodies alone, with the contact’s friction and restitution and the world’s restitution threshold and velocity iterations, so the result is exact only for an isolated pair: other contacts and constraints on either body in the same step are not part of it. It does not model the contact’s mass and inertia scales, surface velocities, locked axes or the speed limits. It bounces the velocity that the step’s gravity and forces have already changed, while the solver takes that change out of the bounce, so under gravity the estimated rebound is faster by restitution · g · dt along the normal. A speculative contact (negative penetration depth) is estimated as if the bodies touched. A contact found in the continuous collision stage is estimated from the velocities after the step’s solve, at the time-of-impact points, which makes its angular part approximate.

Fields (Non-exhaustive)

Non-exhaustive structs could have additional fields added in future. Therefore, non-exhaustive structs cannot be constructed in external crates using the traditional Struct { .. } syntax; cannot be matched against without a wildcard ..; and struct update syntax will not work.

linear_velocity1: Vec3

Linear velocity of body 1 after the impact, m/s.

angular_velocity1: Vec3

Angular velocity of body 1 after the impact, rad/s.

linear_velocity2: Vec3

Linear velocity of body 2 after the impact, m/s.

angular_velocity2: Vec3

Angular velocity of body 2 after the impact, rad/s.

contact_impulses: Vec<f32>

Impulse along the contact normal at each point of the manifold, in the order of ContactManifold::points, N·s. Their sum is the impact’s total normal impulse.

tangent1: Vec3

First friction direction, a unit vector perpendicular to the normal.

tangent2: Vec3

Second friction direction, normal × tangent1.

friction_impulse1: f32

Friction impulse along tangent1, N·s.

friction_impulse2: f32

Friction impulse along tangent2, N·s.

angular_friction_impulse: f32

Friction impulse about the normal, N·m·s.

Trait Implementations

impl Clone for CollisionEstimate

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CollisionEstimate

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for CollisionEstimate

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for CollisionEstimate