pub struct Contact {
pub point1: Point<Real>,
pub point2: Point<Real>,
pub normal1: Unit<Vector<Real>>,
pub normal2: Unit<Vector<Real>>,
pub dist: Real,
}
Expand description
Geometric description of a contact.
Fields
point1: Point<Real>
Position of the contact on the first object.
point2: Point<Real>
Position of the contact on the second object.
normal1: Unit<Vector<Real>>
Contact normal, pointing towards the exterior of the first shape.
normal2: Unit<Vector<Real>>
Contact normal, pointing towards the exterior of the second shape.
If these contact data are expressed in world-space, this normal is equal to -normal1
.
dist: Real
Distance between the two contact points.
If this is negative, this contact represents a penetration.
Implementations
sourceimpl Contact
impl Contact
sourcepub fn flipped(self) -> Self
pub fn flipped(self) -> Self
Returns a new contact containing the swapped points and normals of self
.
sourcepub fn transform_by_mut(&mut self, pos1: &Isometry<Real>, pos2: &Isometry<Real>)
pub fn transform_by_mut(&mut self, pos1: &Isometry<Real>, pos2: &Isometry<Real>)
Transform the points and normals from this contact by the given transformations.
sourcepub fn transform1_by_mut(&mut self, pos: &Isometry<Real>)
pub fn transform1_by_mut(&mut self, pos: &Isometry<Real>)
Transform self.point1
and self.normal1
by the pos
.
Trait Implementations
impl Copy for Contact
impl StructuralPartialEq for Contact
Auto Trait Implementations
impl RefUnwindSafe for Contact
impl Send for Contact
impl Sync for Contact
impl Unpin for Contact
impl UnwindSafe for Contact
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more