Struct ContactCache 

pub struct ContactCache<const D: usize> {
    pub match_threshold: f64,
    /* private fields */
}

Cache of previous-frame impulses for warm-starting the contact solver.

Uses BTreeMap for deterministic iteration order (critical for replay). Maps (body_a, body_b) → cached impulse data.

Fields

match_threshold: f64

Proximity threshold for matching contacts across frames.

Implementations

impl<const D: usize> ContactCache<D>

pub fn new() -> Self

pub fn store( &mut self, body_a: BodyHandle, body_b: BodyHandle, point: SVector<f64, D>, normal_impulse: f64, tangent_impulse: f64, )

Store impulses from this frame’s contact resolution.

pub fn lookup( &self, body_a: BodyHandle, body_b: BodyHandle, point: &SVector<f64, D>, ) -> Option<&CachedImpulse<D>>

Look up the cached impulse for a contact point from the previous frame.

Matches by body pair + proximity of contact point.

pub fn begin_frame(&mut self)

Clear all cached data (call at the start of each frame before resolving).

pub fn pair_count(&self) -> usize

Number of cached contact pairs.

Trait Implementations

impl<const D: usize> Default for ContactCache<D>

fn default() -> Self

Returns the “default value” for a type.