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ContactConstraint

oxiphysics_collision::types

Struct ContactConstraint 

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pub struct ContactConstraint {
    pub pair: CollisionPair,
    pub normal: Vec3,
    pub depth: Real,
    pub point: Vec3,
    pub impulse_n: Real,
    pub impulse_t1: Real,
    pub impulse_t2: Real,
    pub restitution: Real,
    pub friction: Real,
}
Expand description

A position-level contact constraint ready to be fed to a constraint solver.

Carries the pair, penetration depth, normal, and warm-start impulse.

Fields§

§pair: CollisionPair

The colliding pair.

§normal: Vec3

Contact normal (from B toward A, unit length).

§depth: Real

Penetration depth (positive = overlapping).

§point: Vec3

World-space contact point (midpoint of the two witness points).

§impulse_n: Real

Accumulated normal impulse from the previous frame (warm-start).

§impulse_t1: Real

Accumulated tangent impulse 1 from the previous frame.

§impulse_t2: Real

Accumulated tangent impulse 2 from the previous frame.

§restitution: Real

Effective restitution coefficient for this contact.

§friction: Real

Effective friction coefficient for this contact.

Implementations§

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impl ContactConstraint

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pub fn new(pair: CollisionPair, normal: Vec3, depth: Real, point: Vec3) -> Self

Create a constraint with zero warm-start impulses and default material.

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pub fn tangent_basis(&self) -> (Vec3, Vec3)

Build a pair of tangent vectors for friction from the contact normal.

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pub fn is_penetrating(&self) -> bool

Returns true if the contact is currently penetrating.

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pub fn clear_impulses(&mut self)

Zero all accumulated impulses (invalidates warm-start data).

Trait Implementations§

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impl Clone for ContactConstraint

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fn clone(&self) -> ContactConstraint

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for ContactConstraint

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

Formats the value using the given formatter. Read more

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