Struct ContactManifoldGpu 

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

Contact manifold between two bodies produced by the narrowphase.

Fields

body_a: usize

Index of the first body.

body_b: usize

Index of the second body.

contact_points: Vec<[f32; 3]>

Contact point positions in world space.

normals: Vec<[f32; 3]>

Outward contact normals (pointing from B to A), one per contact point.

penetrations: Vec<f32>

Penetration depths (positive means overlapping), one per contact point.

Implementations

impl ContactManifoldGpu

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

Create a new, empty contact manifold between two bodies.

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

Add a single contact point to the manifold.

pub fn contact_count(&self) -> usize

Number of contact points in the manifold.

Trait Implementations

impl Clone for ContactManifoldGpu

fn clone(&self) -> ContactManifoldGpu

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifoldGpu

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

Formats the value using the given formatter.