Struct parry3d::query::ContactManifold

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,
}

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>>

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>

pub fn new() -> Self where
    ManifoldData: Default, 

Create a new empty contact-manifold.

pub fn with_data(subshape1: u32, subshape2: u32, data: ManifoldData) -> Self

Create a new empty contact-manifold with the given associated data.

pub fn take(&mut self) -> Self where
    ManifoldData: Clone, 

Clones self and then remove all contact points from self.

pub fn contacts(&self) -> &[TrackedContact<ContactData>]

The slice of all the contacts, active or not, on this contact manifold.

pub fn try_update_contacts(&mut self, pos12: &Isometry<Real>) -> bool

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

Attempts to use spatial coherence to update contacts points, using user-defined tolerances.

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.

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.

pub fn clear(&mut self)

Removes all the contacts from self.

pub fn find_deepest_contact(&self) -> Option<&TrackedContact<ContactData>>

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>

fn clone(&self) -> ContactManifold<ManifoldData, ContactData>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<ManifoldData: Debug, ContactData: Debug> Debug for ContactManifold<ManifoldData, ContactData>

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

Formats the value using the given formatter.