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ManifoldReduction

oxiphysics_collision::manifold_cache

Struct ManifoldReduction 

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pub struct ManifoldReduction;
Expand description

Algorithms for reducing a contact set to at most 4 representative points.

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impl ManifoldReduction

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pub fn reduce_to_4_points(points: &[ContactPoint]) -> Vec<ContactPoint>

Reduce a slice of contact points to at most 4 points.

Selection strategy:

  1. Keep the deepest penetrating point.
  2. Keep the point furthest from point 1.
  3. Keep the point that maximises triangle area with points 1 and 2.
  4. Keep the point that maximises quadrilateral area with points 1–3.
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pub fn contact_area(points: &[ContactPoint]) -> f64

Compute the approximate area of the convex hull of the contact points projected onto the contact plane defined by the first point’s normal.

Uses the shoelace formula on the projected 2-D coordinates.

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