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ContactPatchReducer

oxiphysics_collision::narrowphase::dispatch

Struct ContactPatchReducer 

Source 
pub struct ContactPatchReducer {
    pub max_contacts: usize,
}
Expand description

A contact patch built from manifold reduction.

After collision detection returns many raw contact points, the patch reducer keeps only the most geometrically useful subset (typically ≤ 4).

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§max_contacts: usize

Maximum number of contact points to keep.

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impl ContactPatchReducer

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pub fn new(max_contacts: usize) -> Self

Create a reducer keeping at most max_contacts points.

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pub fn reduce(&self, manifold: &mut ContactManifold)

Reduce a contact manifold to the most useful contacts.

Strategy:

  1. Keep the deepest contact.
  2. Keep the contact farthest from the deepest.
  3. Keep contacts that maximise triangle area of the current set.

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