Struct rapier2d::pipeline::ContactModificationContext
source · [−]pub struct ContactModificationContext<'a> {
pub bodies: &'a RigidBodySet,
pub colliders: &'a ColliderSet,
pub collider1: ColliderHandle,
pub collider2: ColliderHandle,
pub rigid_body1: Option<RigidBodyHandle>,
pub rigid_body2: Option<RigidBodyHandle>,
pub manifold: &'a ContactManifold,
pub solver_contacts: &'a mut Vec<SolverContact>,
pub normal: &'a mut Vector<Real>,
pub user_data: &'a mut u32,
}
Expand description
Context given to custom contact modifiers to modify the contacts seen by the constraints solver.
Fields
bodies: &'a RigidBodySet
The set of rigid-bodies.
colliders: &'a ColliderSet
The set of colliders.
collider1: ColliderHandle
The handle of the first collider involved in the potential collision.
collider2: ColliderHandle
The handle of the first collider involved in the potential collision.
rigid_body1: Option<RigidBodyHandle>
The handle of the first body involved in the potential collision.
rigid_body2: Option<RigidBodyHandle>
The handle of the first body involved in the potential collision.
manifold: &'a ContactManifold
The contact manifold.
solver_contacts: &'a mut Vec<SolverContact>
The solver contacts that can be modified.
normal: &'a mut Vector<Real>
The contact normal that can be modified.
user_data: &'a mut u32
User-defined data attached to the manifold.
Implementations
sourceimpl<'a> ContactModificationContext<'a>
impl<'a> ContactModificationContext<'a>
sourcepub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Vector<Real>,
allowed_angle: Real
)
pub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Vector<Real>,
allowed_angle: Real
)
Helper function to update self
to emulate a oneway-platform.
The “oneway” behavior will only allow contacts between two colliders
if the local contact normal of the first collider involved in the contact
is almost aligned with the provided allowed_local_n1
direction.
To make this method work properly it must be called as part of the
PhysicsHooks::modify_solver_contacts
method at each timestep, for each
contact manifold involving a one-way platform. The self.user_data
field
must not be modified from the outside of this method.
Auto Trait Implementations
impl<'a> !RefUnwindSafe for ContactModificationContext<'a>
impl<'a> Send for ContactModificationContext<'a>
impl<'a> Sync for ContactModificationContext<'a>
impl<'a> Unpin for ContactModificationContext<'a>
impl<'a> !UnwindSafe for ContactModificationContext<'a>
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
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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>
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Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
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into Box<ConcreteType>
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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>
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sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
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. This is needed since Rust cannot
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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
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sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
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
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sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
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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.