Struct ContactKinematic

pub struct ContactKinematic<N: RealField + Copy> { /* private fields */ }

Local contact kinematic of a pair of solids around two given points.

This is used to update the localization of contact points between two solids from one frame to another. To achieve this, the local shape of the solids around the given points are approximated by either dilated lines (unbounded cylinders), planes, dilated points (spheres).

Implementations

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

pub fn new() -> Self

Initializes an empty contact kinematic.

All the contact kinematic information must be filled using methods prefixed by set_.

pub fn transform1(&mut self, m: &Isometry<N>)

Applies the given transformation to the first set of contact information.

pub fn transform2(&mut self, m: &Isometry<N>)

Applies the given transformation to the second set of contact information.

pub fn dilation1(&self) -> N

The dilation of the first solid.

pub fn dilation2(&self) -> N

The dilation of the second solid.

pub fn local1(&self) -> Point<N>

The tracked point in local space of the first solid.

This may not correspond to the contact point in the local space of the first since it does not takes the dilation into account.

pub fn local2(&self) -> Point<N>

The tracked point in local space of the second solid.

This may not correspond to the contact point in the local space of the second solid since it does not takes the dilation into account.

pub fn feature1(&self) -> FeatureId

The shape-dependent identifier of the feature of the first solid on which lies the contact point.

pub fn feature2(&self) -> FeatureId

The shape-dependent identifier of the feature of the second solid on which lies the contact point.

pub fn set_feature1(&mut self, f: FeatureId)

Sets the shape-dependent identifier of the feature of the first solid on which lies the contact point.

pub fn set_feature2(&mut self, f: FeatureId)

Sets the shape-dependent identifier of the feature of the second solid on which lies the contact point.

pub fn set_dilation1(&mut self, margin: N)

Sets the dilation of the first solid.

pub fn set_dilation2(&mut self, margin: N)

Sets the dilation of the second solid.

pub fn approx1(&self) -> &LocalShapeApproximation<N>

The local approximation of the first shape.

pub fn approx2(&self) -> &LocalShapeApproximation<N>

The local approximation of the first shape.

pub fn approx1_mut(&mut self) -> &mut LocalShapeApproximation<N>

The local approximation of the first shape.

pub fn approx2_mut(&mut self) -> &mut LocalShapeApproximation<N>

The local approximation of the second shape.

pub fn set_approx1( &mut self, feature: FeatureId, point: Point<N>, geom: NeighborhoodGeometry<N>, )

Sets the local approximation of the first shape.

pub fn set_approx2( &mut self, feature: FeatureId, point: Point<N>, geom: NeighborhoodGeometry<N>, )

Sets the local approximation of the second shape.

pub fn contact( &self, m1: &Isometry<N>, s1: &dyn Shape<N>, deformations1: Option<&[N]>, m2: &Isometry<N>, s2: &dyn Shape<N>, deformations2: Option<&[N]>, default_normal1: &Unit<Vector<N>>, ) -> Option<Contact<N>>

Computes the updated contact points with the new positions of the solids.

The vector default_normal1 is the normal of the resulting contact in the rare case where the contact normal cannot be determined by the update. Typically, this should be set to the latest contact normal known.

Trait Implementations

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

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

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

Formats the value using the given formatter.

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