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PyContactConstraint

oxiphysics_python::constraints_api

Struct PyContactConstraint

pub struct PyContactConstraint {
    pub body_a: u32,
    pub body_b: u32,
    pub normal: [f64; 3],
    pub penetration: f64,
    pub position: [f64; 3],
    pub lambda_n: f64,
    pub lambda_t1: f64,
    pub lambda_t2: f64,
    pub restitution: f64,
    pub friction: f64,
}

Expand description

A single contact point constraint between two bodies.

Fields§

§body_a: u32

Body A handle.

§body_b: u32

Body B handle.

§normal: [f64; 3]

Contact normal (from B to A, unit vector).

§penetration: f64

Penetration depth (positive = overlap).

§position: [f64; 3]

Contact position in world space.

§lambda_n: f64

Accumulated normal impulse (warm start).

§lambda_t1: f64

Accumulated tangent impulse in primary direction.

§lambda_t2: f64

Accumulated tangent impulse in secondary direction.

§restitution: f64

Coefficient of restitution.

§friction: f64

Coulomb friction coefficient.

Implementations§

impl PyContactConstraint

pub fn new( body_a: u32, body_b: u32, normal: [f64; 3], penetration: f64, position: [f64; 3], restitution: f64, friction: f64, ) -> Self

Create a new contact constraint.

pub fn clamp_friction(&mut self)

Clamp the tangential impulses to the friction cone.

pub fn tangent_basis(&self) -> ([f64; 3], [f64; 3])

Compute the primary and secondary tangent directions orthogonal to the normal.

Trait Implementations§

impl Clone for PyContactConstraint

fn clone(&self) -> PyContactConstraint

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for PyContactConstraint

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for PyContactConstraint

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl Serialize for PyContactConstraint

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations§

impl Freeze for PyContactConstraint

impl RefUnwindSafe for PyContactConstraint

impl Send for PyContactConstraint

impl Sync for PyContactConstraint

impl Unpin for PyContactConstraint

impl UnsafeUnpin for PyContactConstraint

impl UnwindSafe for PyContactConstraint

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,