Struct jumpy::core::physics::collisions::rapier::SolverContact

pub struct SolverContact {
    pub(crate) contact_id: u8,
    pub point: OPoint<f32, Const<2>>,
    pub dist: f32,
    pub friction: f32,
    pub restitution: f32,
    pub tangent_velocity: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
    pub is_new: bool,
    pub warmstart_impulse: f32,
    pub warmstart_tangent_impulse: Matrix<f32, Const<1>, Const<1>, ArrayStorage<f32, 1, 1>>,
}
Expand description

A contact seen by the constraints solver for computing forces.

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§contact_id: u8§point: OPoint<f32, Const<2>>

The contact point in world-space.

§dist: f32

The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.

§friction: f32

The effective friction coefficient at this contact point.

§restitution: f32

The effective restitution coefficient at this contact point.

§tangent_velocity: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>

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.

§is_new: bool

Whether or not this contact existed during the last timestep.

§warmstart_impulse: f32

Impulse used to warmstart the solve for the normal constraint.

§warmstart_tangent_impulse: Matrix<f32, Const<1>, Const<1>, ArrayStorage<f32, 1, 1>>

Impulse used to warmstart the solve for the friction constraints.

Implementations§

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impl SolverContact

pub fn is_bouncy(&self) -> bool

Should we treat this contact as a bouncy contact? If true, use Self::restitution.

Trait Implementations§

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impl Clone for SolverContact

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fn clone(&self) -> SolverContact

Returns a copy of the value. Read more
1.0.0 · source§

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

Performs copy-assignment from source. Read more
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impl Debug for SolverContact

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

Formats the value using the given formatter. Read more
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impl Copy for SolverContact

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