Struct GpuContactManifold 

pub struct GpuContactManifold {
    pub body_a: usize,
    pub body_b: usize,
    pub contact_points: Vec<[f32; 3]>,
    pub normals: Vec<[f32; 3]>,
    pub depths: Vec<f32>,
}

Contact manifold between two rigid bodies.

Stores the list of contact points, surface normals, and penetration depths generated during narrowphase collision resolution.

Fields

body_a: usize

Index of the first body.

body_b: usize

Index of the second body.

contact_points: Vec<[f32; 3]>

World-space contact points.

normals: Vec<[f32; 3]>

Outward contact normals (from A towards B).

depths: Vec<f32>

Penetration depths (positive = overlapping).

Implementations

impl GpuContactManifold

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

Create an empty manifold for the given body pair.

pub fn add_contact(&mut self, point: [f32; 3], normal: [f32; 3], depth: f32)

Add a single contact to the manifold.

• point – world-space contact point.
• normal – surface normal pointing from A to B.
• depth – penetration depth (positive value).

pub fn contact_count(&self) -> usize

Number of contact points in this manifold.

pub fn max_penetration(&self) -> f32

Maximum penetration depth across all contacts, or 0.0 if empty.

Trait Implementations

impl Clone for GpuContactManifold

fn clone(&self) -> GpuContactManifold

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GpuContactManifold

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

Formats the value using the given formatter.