[−][src]Struct rapier3d::geometry::ContactManifold
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.
delta1: Isometry<f32>
The relative position between the first collider and its parent at the time the contact points were generated.
delta2: Isometry<f32>
The relative position between the second collider and its parent at the time the contact points were generated.
solver_flags: SolverFlags
Flags used to control some aspects of the constraints solver for this contact manifold.
Implementations
impl ContactManifold
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pub fn num_active_contacts(&self) -> usize
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Number of active contacts on this contact manifold.
pub fn active_contacts(&self) -> &[Contact]
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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]
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The slice of all the contacts, active or not, on this contact manifold.
Trait Implementations
impl Clone for ContactManifold
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fn clone(&self) -> ContactManifold
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fn clone_from(&mut self, source: &Self)
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impl Debug for ContactManifold
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Auto Trait Implementations
impl RefUnwindSafe for ContactManifold
impl Send for ContactManifold
impl Sync for ContactManifold
impl Unpin for ContactManifold
impl UnwindSafe for ContactManifold
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
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>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
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>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,