Struct PersistentPatch 

pub struct PersistentPatch {
    pub normal: [f64; 3],
    pub points: Vec<WarmContactPoint>,
    pub frame_count: u32,
    pub active: bool,
}

A contact patch that persists across frames, tracking history of contacts.

Useful for integrating contact forces and detecting sustained contact.

Fields

normal: [f64; 3]

Shared contact normal.

points: Vec<WarmContactPoint>

Warm contact points (max 4).

frame_count: u32

Number of consecutive frames this patch has been active.

active: bool

Whether this patch was active in the most recent frame.

Implementations

impl PersistentPatch

pub fn new(normal: [f64; 3]) -> Self

Create a new empty persistent patch.

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

Update the patch from a new ContactManifold.

Transfers warm-start data from matching previous points, increments frame_count, and reduces to at most 4 points.

pub fn deactivate(&mut self)

Mark the patch as inactive (no collision detected this frame).

pub fn is_sustained(&self, n: u32) -> bool

Whether the patch has been active for at least n consecutive frames.

pub fn max_depth(&self) -> f64

Maximum penetration depth across all contact points.

pub fn average_position(&self) -> Option<[f64; 3]>

Average contact position across all points.

Trait Implementations

impl Clone for PersistentPatch

fn clone(&self) -> PersistentPatch

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PersistentPatch

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

Formats the value using the given formatter.