Struct ContactManifold 

pub struct ContactManifold {
    pub contacts: Vec<Contact>,
}

A contact manifold: up to 4 persistent contact points between two bodies.

Fields

contacts: Vec<Contact>

Up to 4 contact points.

Implementations

impl ContactManifold

pub fn new() -> Self

Create an empty manifold.

pub fn add_contact(&mut self, contact: Contact)

Add a contact, replacing the least significant one if there are already 4.

pub fn average_normal(&self) -> [Real; 3]

Return the average contact normal.

pub fn max_depth(&self) -> Real

Maximum penetration depth across all contacts.

pub fn is_empty(&self) -> bool

Whether there are any contacts.

Trait Implementations

impl Clone for ContactManifold

fn clone(&self) -> ContactManifold

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifold

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

Formats the value using the given formatter.

impl Default for ContactManifold

fn default() -> ContactManifold

Returns the “default value” for a type.