Struct Contact

pub struct Contact<N: RealField + Copy> {
    pub world1: Point<N>,
    pub world2: Point<N>,
    pub normal: Unit<Vector<N>>,
    pub depth: N,
}

Geometric description of a contact.

Fields

world1: Point<N>

Position of the contact on the first object. The position is expressed in world space.

world2: Point<N>

Position of the contact on the second object. The position is expressed in world space.

normal: Unit<Vector<N>>

Contact normal

depth: N

Penetration depth

Implementations

impl<N: RealField + Copy> Contact<N>

pub fn new( world1: Point<N>, world2: Point<N>, normal: Unit<Vector<N>>, depth: N, ) -> Self

Creates a new contact.

pub fn new_wo_depth( world1: Point<N>, world2: Point<N>, normal: Unit<Vector<N>>, ) -> Contact<N>

Creates a new contact, computing automatically the penetration depth.

impl<N: RealField + Copy> Contact<N>

pub fn flip(&mut self)

Reverts the contact normal and swaps world1 and world2.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for Contact<N>

fn clone(&self) -> Contact<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for Contact<N>

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

Formats the value using the given formatter.

impl<N: PartialEq + RealField + Copy> PartialEq for Contact<N>

fn eq(&self, other: &Contact<N>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<N: Copy + RealField + Copy> Copy for Contact<N>

impl<N: RealField + Copy> StructuralPartialEq for Contact<N>