Struct parry2d::query::ContactManifold [−][src]
A contact manifold between two shapes.
A contact manifold describes a set of contacts between two shapes. All the contact part of the same contact manifold share the same contact normal and contact kinematics.
Fields
points: ArrayVec<[TrackedContact<ContactData>; 2]>
The contacts points.
local_n1: Vector<Real>
The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.
local_n2: Vector<Real>
The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.
subshape1: u32
The first subshape involved in this contact manifold.
This is zero if the first shape is not a composite shape.
subshape2: u32
The second subshape involved in this contact manifold.
This is zero if the second shape is not a composite shape.
subshape_pos1: Option<Isometry<Real>>
If the first shape involved is a composite shape, this contains the position of its subshape involved in this contact.
subshape_pos2: Option<Isometry<Real>>
If the second shape involved is a composite shape, this contains the position of its subshape involved in this contact.
data: ManifoldData
Additional tracked data associated to this contact manifold.
Implementations
impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>
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pub fn new() -> Self where
ManifoldData: Default,
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ManifoldData: Default,
Create a new empty contact-manifold.
pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self
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Create a new empty contact-manifold with the given associated data.
pub fn take(&mut self) -> Self where
ManifoldData: Clone,
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ManifoldData: Clone,
Clones self
and then remove all contact points from self
.
pub fn contacts(&self) -> &[TrackedContact<ContactData>]
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The slice of all the contacts, active or not, on this contact manifold.
pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool
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Attempts to use spatial coherence to update contacts points.
pub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<Real>,
angle_dot_threshold: Real,
dist_sq_threshold: Real
) -> bool
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&mut self,
pos12: &Isometry<Real>,
angle_dot_threshold: Real,
dist_sq_threshold: Real
) -> bool
Attempts to use spatial coherence to update contacts points, using user-defined tolerances.
pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
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Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching their feature-ids.
pub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: Real
)
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&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: Real
)
Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching the contact positions.
pub fn clear(&mut self)
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Removes all the contacts from self
.
pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
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Returns the contact with the smallest distance (i.e. the largest penetration depth).
Trait Implementations
impl<ManifoldData: Clone, ContactData: Clone> Clone for ContactManifold<ManifoldData, ContactData>
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fn clone(&self) -> ContactManifold<ManifoldData, ContactData>
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl<ManifoldData: Debug, ContactData: Debug> Debug for ContactManifold<ManifoldData, ContactData>
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Auto Trait Implementations
impl<ManifoldData, ContactData> RefUnwindSafe for ContactManifold<ManifoldData, ContactData> where
ContactData: RefUnwindSafe,
ManifoldData: RefUnwindSafe,
ContactData: RefUnwindSafe,
ManifoldData: RefUnwindSafe,
impl<ManifoldData, ContactData> Send for ContactManifold<ManifoldData, ContactData> where
ContactData: Send,
ManifoldData: Send,
ContactData: Send,
ManifoldData: Send,
impl<ManifoldData, ContactData> Sync for ContactManifold<ManifoldData, ContactData> where
ContactData: Sync,
ManifoldData: Sync,
ContactData: Sync,
ManifoldData: Sync,
impl<ManifoldData, ContactData> Unpin for ContactManifold<ManifoldData, ContactData> where
ContactData: Unpin,
ManifoldData: Unpin,
ContactData: Unpin,
ManifoldData: Unpin,
impl<ManifoldData, ContactData> UnwindSafe for ContactManifold<ManifoldData, ContactData> where
ContactData: UnwindSafe,
ManifoldData: UnwindSafe,
ContactData: UnwindSafe,
ManifoldData: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,