Struct rapier2d::geometry::SolverContact [−][src]
pub struct SolverContact { pub point: Point<Real>, pub dist: Real, pub friction: Real, pub restitution: Real, pub tangent_velocity: Vector<Real>, pub warmstart_impulse: Real, pub warmstart_tangent_impulse: Real, pub prev_rhs: Real, // some fields omitted }
Expand description
A contact seen by the constraints solver for computing forces.
Fields
point: Point<Real>
The world-space contact point.
dist: Real
The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.
friction: Real
The effective friction coefficient at this contact point.
restitution: Real
The effective restitution coefficient at this contact point.
tangent_velocity: Vector<Real>
The desired tangent relative velocity at the contact point.
This is set to zero by default. Set to a non-zero value to simulate, e.g., conveyor belts.
warmstart_impulse: Real
The warmstart impulse, along the contact normal, applied by this contact to the first collider’s rigid-body.
warmstart_tangent_impulse: Real
The warmstart friction impulse along the vector orthonormal to the contact normal, applied to the first collider’s rigid-body.
prev_rhs: Real
The last velocity correction targeted by this contact.
Implementations
Should we treat this contact as a bouncy contact?
If true
, use Self::restitution
.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for SolverContact
impl Send for SolverContact
impl Sync for SolverContact
impl Unpin for SolverContact
impl UnwindSafe for SolverContact
Blanket Implementations
Mutably borrows from an owned value. Read more
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
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
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
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
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.