Struct ContactManifoldCache 

pub struct ContactManifoldCache {
    pub manifolds: HashMap<(u32, u32), PersistentManifold>,
    pub max_lifetime: u32,
}

World-level cache of persistent contact manifolds.

Stores one PersistentManifold per body pair, keyed by ordered (min, max) body-handle pair.

Fields

manifolds: HashMap<(u32, u32), PersistentManifold>

All active manifolds, keyed by ordered body-handle pair.

max_lifetime: u32

Maximum number of frames a manifold can persist without being touched.

Implementations

impl ContactManifoldCache

pub fn new(max_lifetime: u32) -> Self

Create a new cache.

pub fn get_or_create( &mut self, body_a: u32, body_b: u32, friction: f64, restitution: f64, ) -> &mut PersistentManifold

Get or create the persistent manifold for the given body pair.

pub fn update_manifold( &mut self, body_a: u32, body_b: u32, new_points: Vec<ContactPoint>, )

Merge a set of newly detected contact points into the cached manifold.

Each new point is added-or-updated; existing point lifetimes are incremented automatically inside add_or_update.

pub fn remove_inactive(&mut self)

Remove manifolds that are no longer active or have no points.

pub fn begin_frame(&mut self)

Mark all manifolds as inactive at the start of a frame.

Manifolds that are still colliding will be reactivated when update_manifold is called.

impl ContactManifoldCache

pub fn total_contact_points(&self) -> usize

Total number of contact points across all active manifolds.

pub fn manifold_count(&self) -> usize

Number of manifolds in the cache.

pub fn clear(&mut self)

Clear all manifolds.

pub fn get_warmstart( &self, body_a: u32, body_b: u32, ) -> Option<Vec<(f64, [f64; 2])>>

Collect all warm-start data for a given body pair (if present).

pub fn remove_body(&mut self, body_id: u32)

Update all manifolds that belong to a single body (e.g., on body removal).