Struct rapier3d::geometry::SolverContact
source · [−]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: Vector2<Real>,
pub prev_rhs: Real,
/* private fields */
}
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: Vector2<Real>
The warmstart friction impulses along the basis 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
sourceimpl SolverContact
impl SolverContact
sourcepub fn is_bouncy(&self) -> bool
pub fn is_bouncy(&self) -> bool
Should we treat this contact as a bouncy contact?
If true
, use Self::restitution
.
Trait Implementations
sourceimpl Clone for SolverContact
impl Clone for SolverContact
sourcefn clone(&self) -> SolverContact
fn clone(&self) -> SolverContact
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for SolverContact
impl Debug for SolverContact
impl Copy for SolverContact
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
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
fn borrow_mut(&mut self) -> &mut T
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>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
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>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
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
’s. Read more
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
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
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.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more