Struct PersistentManifold 

pub struct PersistentManifold {
    pub body_a: u32,
    pub body_b: u32,
    pub points: Vec<ContactPoint>,
    pub normal: [f64; 3],
    pub friction: f64,
    pub restitution: f64,
    pub is_active: bool,
}

Persistent contact manifold holding up to 4 contact points with warm-start data.

Named PersistentManifold to distinguish from the simpler ContactManifold used in narrow-phase output.

Fields

body_a: u32

Handle ID of body A.

body_b: u32

Handle ID of body B.

points: Vec<ContactPoint>

Contact points (max 4).

normal: [f64; 3]

Average contact normal.

friction: f64

Friction coefficient.

restitution: f64

Restitution coefficient.

is_active: bool

Whether this manifold was touched this frame.

Implementations

impl PersistentManifold

pub fn new(body_a: u32, body_b: u32, friction: f64, restitution: f64) -> Self

Create a new empty persistent manifold.

pub fn add_or_update(&mut self, new_point: ContactPoint)

Add a new contact point or update an existing cached one.

If a point with the same ID (or within the distance threshold) already exists, the cached warm-start impulses are transferred to the new point. The manifold is pruned to at most 4 points using area-maximising selection.

pub fn remove_stale( &mut self, transform_a: ([f64; 3], [[f64; 3]; 3]), transform_b: ([f64; 3], [[f64; 3]; 3]), )

Remove stale contact points based on world-space re-projection.

For each cached point the local positions are transformed back to world space using the current body transforms. The point is removed if the bodies have separated or if the projected position has drifted too far from the cached world position.

impl PersistentManifold

pub fn update_from_new_contacts(&mut self, new_contacts: Vec<ContactPoint>)

Update the manifold with a completely new set of contact points.

Points are matched against the existing cache to preserve warm-start impulses, then compressed to at most 4.

pub fn warmstart_data(&self) -> Vec<(f64, [f64; 2])>

Extract warm-start data for the solver: returns (normal_impulse, tangent_impulse) per point.

pub fn store_solver_impulses(&mut self, impulses: &[(f64, [f64; 2])])

Apply solver results back to the warm-start cache.

pub fn contact_count(&self) -> usize

Number of active contact points.

pub fn max_depth(&self) -> f64

Maximum penetration depth across all contact points.

pub fn clamp_impulses(&mut self)

Clamp all accumulated impulses to non-negative (velocity-based solvers).

Trait Implementations

impl Clone for PersistentManifold

fn clone(&self) -> PersistentManifold

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PersistentManifold

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

Formats the value using the given formatter.