Struct rapier2d::geometry::ContactManifold

pub struct ContactManifold {
    pub num_active_contacts: usize,
    pub local_n1: Vector<f32>,
    pub local_n2: Vector<f32>,
    pub kinematics: ContactKinematics,
    pub body_pair: BodyPair,
    pub pair: ColliderPair,
    pub subshape_index_pair: (usize, usize),
    pub friction: f32,
    pub restitution: f32,
    // some fields omitted
}

A contact manifold between two colliders.

A contact manifold describes a set of contacts between two colliders. All the contact part of the same contact manifold share the same contact normal and contact kinematics.

Fields

num_active_contacts: usize

The number of active contacts on this contact manifold.

Active contacts are these that may result in contact forces.

local_n1: Vector<f32>

The contact normal of all the contacts of this manifold, expressed in the local space of the first collider.

local_n2: Vector<f32>

The contact normal of all the contacts of this manifold, expressed in the local space of the second collider.

kinematics: ContactKinematics

The contact kinematics of all the contacts of this manifold.

body_pair: BodyPair

The pair of body involved in this contact manifold.

pair: ColliderPair

The pair of colliders involved in this contact manifold.

subshape_index_pair: (usize, usize)

The pair of subshapes involved in this contact manifold.

friction: f32

The friction coefficient for of all the contacts on this contact manifold.

restitution: f32

The restitution coefficient for all the contacts on this contact manifold.

Implementations

impl ContactManifold

pub fn num_active_contacts(&self) -> usize

Number of active contacts on this contact manifold.

pub fn active_contacts(&self) -> &[Contact]

The slice of all the active contacts on this contact manifold.

Active contacts are contacts that may end up generating contact forces.

pub fn all_contacts(&self) -> &[Contact]

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

Trait Implementations

impl Clone for ContactManifold

fn clone(&self) -> ContactManifold

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifold

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

Formats the value using the given formatter.