Struct PersistentManifoldGpu 

pub struct PersistentManifoldGpu {
    pub body_a: u32,
    pub body_b: u32,
    pub points: [Option<ManifoldPoint>; 4],
    pub num_points: usize,
}

Persistent 4-point contact manifold with warm-start impulse data.

Retains up to 4 contact points between a pair of bodies across frames, selecting the deepest/most-separated subset for stability.

Fields

body_a: u32

Index of body A.

body_b: u32

Index of body B.

points: [Option<ManifoldPoint>; 4]

Retained contact points (up to 4).

num_points: usize

Number of active contact points.

Implementations

impl PersistentManifoldGpu

pub fn new(body_a: u32, body_b: u32) -> Self

Create an empty manifold for the given body pair.

pub fn add_contact(&mut self, new_pt: ManifoldPoint)

Add or replace a contact point.

If there are fewer than 4 points the new point is simply appended. Otherwise the shallowest existing point is replaced if it is shallower than the new one.

pub fn remove_stale(&mut self, threshold: f32)

Remove stale contact points whose depth has become positive (separated).

pub fn reset_warm_start(&mut self)

Reset warm-start impulses to zero.

pub fn active_points(&self) -> impl Iterator<Item = &ManifoldPoint>

Return an iterator over active contact points.

Trait Implementations

impl Clone for PersistentManifoldGpu

fn clone(&self) -> PersistentManifoldGpu

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PersistentManifoldGpu

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

Formats the value using the given formatter.