diff options
Diffstat (limited to 'src/geometry/contact_pair.rs')
| -rw-r--r-- | src/geometry/contact_pair.rs | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index cbb012a..f6c4989 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -62,6 +62,7 @@ pub struct ContactPair { /// /// All contact manifold contain themselves contact points between the colliders. pub manifolds: Vec<ContactManifold>, + /// Is there any active contact in this contact pair? pub has_any_active_contact: bool, pub(crate) workspace: Option<ContactManifoldsWorkspace>, } @@ -95,18 +96,31 @@ pub struct ContactManifoldData { // contact preparation method. /// Flags used to control some aspects of the constraints solver for this contact manifold. pub solver_flags: SolverFlags, + /// The world-space contact normal shared by all the contact in this contact manifold. pub normal: Vector<Real>, + /// The contacts that will be seen by the constraints solver for computing forces. pub solver_contacts: Vec<SolverContact>, } +/// A contact seen by the constraints solver for computing forces. #[derive(Copy, Clone, Debug)] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct SolverContact { + /// The world-space contact point. pub point: Point<Real>, + /// The distance between the two original contacts points along the contact normal. + /// If negative, this is measures the penetration depth. pub dist: Real, + /// The effective friction coefficient at this contact point. pub friction: Real, + /// The effective restitution coefficient at this contact point. pub restitution: Real, + /// The artificially add 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. pub surface_velocity: Vector<Real>, + /// Associated contact data used to warm-start the constraints + /// solver. pub data: ContactData, } @@ -132,6 +146,8 @@ impl ContactManifoldData { } } + /// Number of actives contacts, i.e., contacts that will be seen by + /// the constraints solver. #[inline] pub fn num_active_contacts(&self) -> usize { self.solver_contacts.len() |