pub struct ContactManifold<ManifoldData, ContactData> {
pub points: ArrayVec<TrackedContact<ContactData>, 2>,
pub local_n1: Vector<Real>,
pub local_n2: Vector<Real>,
pub subshape1: u32,
pub subshape2: u32,
pub subshape_pos1: Option<Isometry<Real>>,
pub subshape_pos2: Option<Isometry<Real>>,
pub data: ManifoldData,
}
Expand description
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
sourceimpl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>
impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>
sourcepub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self
pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self
Create a new empty contact-manifold with the given associated data.
sourcepub fn take(&mut self) -> Self where
ManifoldData: Clone,
pub fn take(&mut self) -> Self where
ManifoldData: Clone,
Clones self
and then remove all contact points from self
.
sourcepub fn contacts(&self) -> &[TrackedContact<ContactData>]
pub fn contacts(&self) -> &[TrackedContact<ContactData>]
The slice of all the contacts, active or not, on this contact manifold.
sourcepub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool
pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool
Attempts to use spatial coherence to update contacts points.
sourcepub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<Real>,
angle_dot_threshold: Real,
dist_sq_threshold: Real
) -> bool
pub fn try_update_contacts_eps(
&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.
sourcepub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching their feature-ids.
sourcepub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: Real
)
pub fn match_contacts_using_positions(
&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.
sourcepub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
Returns the contact with the smallest distance (i.e. the largest penetration depth).
Trait Implementations
sourceimpl<ManifoldData: Clone, ContactData: Clone> Clone for ContactManifold<ManifoldData, ContactData>
impl<ManifoldData: Clone, ContactData: Clone> Clone for ContactManifold<ManifoldData, ContactData>
sourcefn clone(&self) -> ContactManifold<ManifoldData, ContactData>
fn clone(&self) -> ContactManifold<ManifoldData, ContactData>
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
Auto Trait Implementations
impl<ManifoldData, ContactData> RefUnwindSafe for ContactManifold<ManifoldData, ContactData> where
ContactData: RefUnwindSafe,
ManifoldData: RefUnwindSafe,
impl<ManifoldData, ContactData> Send for ContactManifold<ManifoldData, ContactData> where
ContactData: Send,
ManifoldData: Send,
impl<ManifoldData, ContactData> Sync for ContactManifold<ManifoldData, ContactData> where
ContactData: Sync,
ManifoldData: Sync,
impl<ManifoldData, ContactData> Unpin for ContactManifold<ManifoldData, ContactData> where
ContactData: Unpin,
ManifoldData: Unpin,
impl<ManifoldData, ContactData> UnwindSafe for ContactManifold<ManifoldData, ContactData> where
ContactData: UnwindSafe,
ManifoldData: UnwindSafe,
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