Struct rapier3d::pipeline::ContactModificationContext [−][src]
pub struct ContactModificationContext<'a, Bodies, Colliders> { pub bodies: &'a Bodies, pub colliders: &'a Colliders, 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 Bodies
The set of rigid-bodies.
colliders: &'a Colliders
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
impl<'a, Bodies, Colliders> ContactModificationContext<'a, Bodies, Colliders>
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impl<'a, Bodies, Colliders> ContactModificationContext<'a, Bodies, Colliders>
[src]pub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Vector<Real>,
allowed_angle: Real
)
[src]
pub fn update_as_oneway_platform(
&mut self,
allowed_local_n1: &Vector<Real>,
allowed_angle: Real
)
[src]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, Bodies, Colliders> RefUnwindSafe for ContactModificationContext<'a, Bodies, Colliders> where
Bodies: RefUnwindSafe,
Colliders: RefUnwindSafe,
Bodies: RefUnwindSafe,
Colliders: RefUnwindSafe,
impl<'a, Bodies, Colliders> Send for ContactModificationContext<'a, Bodies, Colliders> where
Bodies: Sync,
Colliders: Sync,
Bodies: Sync,
Colliders: Sync,
impl<'a, Bodies, Colliders> Sync for ContactModificationContext<'a, Bodies, Colliders> where
Bodies: Sync,
Colliders: Sync,
Bodies: Sync,
Colliders: Sync,
impl<'a, Bodies, Colliders> Unpin for ContactModificationContext<'a, Bodies, Colliders>
impl<'a, Bodies, Colliders> !UnwindSafe for ContactModificationContext<'a, Bodies, Colliders>
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
[src]
impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]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
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]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
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]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
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
[src]
pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
[src]
pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.