Struct ContactManifold

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

A contact manifold.

A contact manifold is a set of contacts between two shapes. If the shapes are convex, then the convex hull of those contacts are often interpreted as surface. This structure is responsible for matching new contacts with old ones in order to perform an approximate tracking of the contact points.

Implementations

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

pub fn new() -> Self

Initializes a contact manifold without any contact.

The default contact tracking mode is set to ContactTrackingMode::DistanceBased(0.02).

pub fn len(&self) -> usize

The number of contacts contained by this manifold.

pub fn contacts(&self) -> impl Iterator<Item = &TrackedContact<N>>

All the contact tracked by this manifold.

pub fn contacts_mut(&mut self) -> impl Iterator<Item = &mut TrackedContact<N>>

Mutable reference to all the contact tracked by this manifold.

pub fn deepest_contact(&self) -> Option<&TrackedContact<N>>

The contact of this manifold with the deepest penetration depth.

pub fn clear(&mut self)

Empty the manifold as well as its cache.

pub fn tracking_mode(&self) -> ContactTrackingMode<N>

Gets the technique currently used for tracking contacts.

pub fn set_tracking_mode(&mut self, mode: ContactTrackingMode<N>)

Sets the technique used for tracking contacts.

If the selected method is different from the current one, the current contact cache is cleared.

pub fn save_cache_and_clear(&mut self)

Save the contacts to a cache and empty the manifold.

pub fn push( &mut self, contact: Contact<N>, kinematic: ContactKinematic<N>, tracking_pt: Point<N>, preprocessor1: Option<&dyn ContactPreprocessor<N>>, preprocessor2: Option<&dyn ContactPreprocessor<N>>, ) -> bool

Add a new contact to the manifold.

The manifold will attempt to match this contact with another one previously added and added to the cache by the last call to save_cache_and_clear. The matching is done by spacial proximity, i.e., two contacts that are sufficiently close will be given the same identifier.

Trait Implementations

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

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

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

Formats the value using the given formatter.