Struct RichContact 

pub struct RichContact {
    pub point_a: Vec3,
    pub point_b: Vec3,
    pub normal: Vec3,
    pub depth: Real,
    pub feature_a: FeatureId,
    pub feature_b: FeatureId,
    pub impulse_n: Real,
    pub impulse_t1: Real,
    pub impulse_t2: Real,
}

An extended contact point that also carries feature IDs and solver impulses.

This is the richer variant used by the persistent manifold and warm-starting system. The simpler Contact is kept for backward compatibility.

Fields

point_a: Vec3

Contact point on body A in world space.

point_b: Vec3

Contact point on body B in world space.

normal: Vec3

Contact normal (from B towards A).

depth: Real

Penetration depth (positive means overlapping).

feature_a: FeatureId

Feature on shape A that generated this contact.

feature_b: FeatureId

Feature on shape B that generated this contact.

impulse_n: Real

Accumulated normal impulse (used for warm-starting the constraint solver).

impulse_t1: Real

Accumulated tangent impulse along the first friction direction.

impulse_t2: Real

Accumulated tangent impulse along the second friction direction.

Implementations

impl RichContact

pub fn new(point_a: Vec3, point_b: Vec3, normal: Vec3, depth: Real) -> Self

Create a RichContact with feature and impulse fields zeroed.

pub fn from_contact(c: &Contact) -> Self

Create from a plain Contact, zeroing feature IDs and impulses.

pub fn to_contact(&self) -> Contact

Downgrade to a plain Contact (drops feature IDs and impulses).

pub fn point(&self) -> Vec3

The midpoint of the two contact points.

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

Build a pair of orthogonal tangent vectors from the contact normal.

Returns (t1, t2) forming a right-handed frame with self.normal.

pub fn is_penetrating(&self) -> bool

Returns true if the contact is a penetrating contact (depth > 0).

Trait Implementations

impl Clone for RichContact

fn clone(&self) -> RichContact

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RichContact

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

Formats the value using the given formatter.