Struct ContactCacheEntry 

pub struct ContactCacheEntry {
    pub key: (u32, u32),
    pub accumulated_normal: f32,
    pub accumulated_tangent_1: f32,
    pub accumulated_tangent_2: f32,
    pub contact_point: [f32; 3],
    pub age_frames: u32,
}

A single entry in the contact cache for warmstarting.

Fields

key: (u32, u32)

Body pair key (a, b) with a < b.

accumulated_normal: f32

Accumulated normal impulse from the previous frame.

accumulated_tangent_1: f32

Accumulated tangent impulse (direction 1) from the previous frame.

accumulated_tangent_2: f32

Accumulated tangent impulse (direction 2) from the previous frame.

contact_point: [f32; 3]

Contact point used for positional warmstart.

age_frames: u32

Age in frames since this entry was last refreshed.

Implementations

impl ContactCacheEntry

pub fn new(pair: &CollisionPair, contact: &ContactResult) -> Self

Create a new cache entry for the given pair and contact.

pub fn apply_warm_start(&self, pt: &mut ManifoldPoint)

Apply warmstart data to a manifold point.

pub fn update(&mut self, normal_impulse: f32, t1: f32, t2: f32)

Update from a resolved contact (call after solver).

Trait Implementations

impl Clone for ContactCacheEntry

fn clone(&self) -> ContactCacheEntry

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ContactCacheEntry

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

Formats the value using the given formatter.