Struct parry3d::query::ContactManifold [−][src]
pub struct ContactManifold<ManifoldData, ContactData> { pub points: Vec<TrackedContact<ContactData>>, 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: Vec<TrackedContact<ContactData>>
Expand description
The contacts points.
local_n1: Vector<Real>
Expand description
The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.
local_n2: Vector<Real>
Expand description
The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.
subshape1: u32
Expand description
The first subshape involved in this contact manifold.
This is zero if the first shape is not a composite shape.
subshape2: u32
Expand description
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>>
Expand description
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>>
Expand description
If the second shape involved is a composite shape, this contains the position of its subshape involved in this contact.
data: ManifoldData
Expand description
Additional tracked data associated to this contact manifold.
Implementations
impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>
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impl<ManifoldData, ContactData: Default + Copy> ContactManifold<ManifoldData, ContactData>
[src]pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self
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pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self
[src]Create a new empty contact-manifold with the given associated data.
pub fn take(&mut self) -> Self where
ManifoldData: Clone,
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pub fn take(&mut self) -> Self where
ManifoldData: Clone,
[src]Clones self
and then remove all contact points from self
.
pub fn contacts(&self) -> &[TrackedContact<ContactData>]
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pub fn contacts(&self) -> &[TrackedContact<ContactData>]
[src]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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pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool
[src]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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pub fn try_update_contacts_eps(
&mut self,
pos12: &Isometry<Real>,
angle_dot_threshold: Real,
dist_sq_threshold: Real
) -> bool
[src]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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pub fn match_contacts(&mut self, old_contacts: &[TrackedContact<ContactData>])
[src]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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pub fn match_contacts_using_positions(
&mut self,
old_contacts: &[TrackedContact<ContactData>],
dist_threshold: Real
)
[src]Copy data associated to contacts from old_contacts
to the new contacts in self
based on matching the contact positions.
pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
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pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>
[src]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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impl<ManifoldData: Clone, ContactData: Clone> Clone for ContactManifold<ManifoldData, ContactData>
[src]fn clone(&self) -> ContactManifold<ManifoldData, ContactData>
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fn clone(&self) -> ContactManifold<ManifoldData, ContactData>
[src]Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0[src]
fn clone_from(&mut self, source: &Self)
1.0.0[src]Performs copy-assignment from source
. Read more
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> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]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
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]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
pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]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
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
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pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
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impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more