Struct rapier3d::geometry::ContactManifoldData

pub struct ContactManifoldData {
    pub body_pair: BodyPair,
    pub solver_flags: SolverFlags,
    pub normal: Vector<Real>,
    pub solver_contacts: Vec<SolverContact>,
    pub relative_dominance: i16,
    pub user_data: u32,
    // 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

body_pair: BodyPair

The pair of body involved in this contact manifold.

solver_flags: SolverFlags

Flags used to control some aspects of the constraints solver for this contact manifold.

normal: Vector<Real>

The world-space contact normal shared by all the contact in this contact manifold.

solver_contacts: Vec<SolverContact>

The contacts that will be seen by the constraints solver for computing forces.

relative_dominance: i16

The relative dominance of the bodies involved in this contact manifold.

user_data: u32

A user-defined piece of data.

Implementations

impl ContactManifoldData

pub fn num_active_contacts(&self) -> usize

Number of actives contacts, i.e., contacts that will be seen by the constraints solver.

Trait Implementations

impl Clone for ContactManifoldData

fn clone(&self) -> ContactManifoldData

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for ContactManifoldData

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

Formats the value using the given formatter.

impl Default for ContactManifoldData

fn default() -> Self

Returns the “default value” for a type.