Struct parry3d::query::Contact[−][src]

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>
Expand description

Position of the contact on the first object.

point2: Point<Real>
Expand description

Position of the contact on the second object.

normal1: Unit<Vector<Real>>
Expand description

Contact normal, pointing towards the exterior of the first shape.

normal2: Unit<Vector<Real>>
Expand description

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
Expand description

Distance between the two contact points.

If this is negative, this contact represents a penetration.

Implementations

impl Contact[src]

pub fn new(
    point1: Point<Real>,
    point2: Point<Real>,
    normal1: Unit<Vector<Real>>,
    normal2: Unit<Vector<Real>>,
    dist: Real
) -> Self[src]

Creates a new contact.

impl Contact[src]

pub fn flip(&mut self)[src]

Swaps the points and normals of this contact.

pub fn flipped(self) -> Self[src]

Returns a new contact containing the swapped points and normals of self.

pub fn transform_by_mut(&mut self, pos1: &Isometry<Real>, pos2: &Isometry<Real>)[src]

Transform the points and normals from this contact by the given transformations.

pub fn transform1_by_mut(&mut self, pos: &Isometry<Real>)[src]

Transform self.point1 and self.normal1 by the pos.

Trait Implementations

impl Clone for Contact[src]

fn clone(&self) -> Contact[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl Debug for Contact[src]

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

Formats the value using the given formatter. Read more

impl PartialEq<Contact> for Contact[src]

fn eq(&self, other: &Contact) -> bool[src]

This method tests for self and other values to be equal, and is used by ==. Read more

fn ne(&self, other: &Contact) -> bool[src]

This method tests for !=.

impl Copy for Contact[src]

impl StructuralPartialEq for Contact[src]

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

impl<T> Any for T where
    T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

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, [src]

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. Read more

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)[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)[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]

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Sync + Send>[src]

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<T> Scalar for T where
    T: Copy + PartialEq<T> + Debug + Any, [src]

pub fn inlined_clone(&self) -> T[src]

Performance hack: Clone doesn’t get inlined for Copy types in debug mode, so make it inline anyway.

fn is<T>() -> bool where
    T: Scalar, [src]

Tests if Self the same as the type T Read more

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, [src]

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[src]

Checks if self is actually part of its subset T (and can be converted to it).

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[src]

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

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]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

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>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

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>[src]

Performs the conversion.