Type Alias jumpy::core::physics::collisions::rapier::ContactManifold
pub type ContactManifold = ContactManifold<ContactManifoldData, ContactData>;
Expand description
A contact manifold between two colliders.
Aliased Type§
struct ContactManifold {
pub points: ArrayVec<TrackedContact<ContactData>, 2>,
pub local_n1: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
pub local_n2: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
pub subshape1: u32,
pub subshape2: u32,
pub subshape_pos1: Option<Isometry<f32, Unit<Complex<f32>>, 2>>,
pub subshape_pos2: Option<Isometry<f32, Unit<Complex<f32>>, 2>>,
pub data: ContactManifoldData,
}
Fields§
§points: ArrayVec<TrackedContact<ContactData>, 2>
The contacts points.
local_n1: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>
The contact normal of all the contacts of this manifold, expressed in the local space of the first shape.
local_n2: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>
The contact normal of all the contacts of this manifold, expressed in the local space of the second shape.
subshape1: u32
The first subshape involved in this contact manifold.
This is zero if the first shape is not a composite shape.
subshape2: u32
The second subshape involved in this contact manifold.
This is zero if the second shape is not a composite shape.
subshape_pos1: Option<Isometry<f32, Unit<Complex<f32>>, 2>>
If the first shape involved is a composite shape, this contains the position of its subshape involved in this contact.
subshape_pos2: Option<Isometry<f32, Unit<Complex<f32>>, 2>>
If the second shape involved is a composite shape, this contains the position of its subshape involved in this contact.
data: ContactManifoldData
Additional tracked data associated to this contact manifold.