From ad5c10672e36f47fbdb0667bccd79c59ff3a97cc Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 22 Feb 2021 17:51:40 +0100
Subject: Use contact ids instead of contact reordering in order to identify
 the impulse writeback location.

---
 src/geometry/contact_pair.rs | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'src/geometry/contact_pair.rs')

diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index 462d3ef..c94a2cf 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -110,6 +110,8 @@ pub struct ContactManifoldData {
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct SolverContact {
+    /// The index of the manifold contact used to generate this solver contact.
+    pub contact_id: u8,
     /// The world-space contact point.
     pub point: Point<Real>,
     /// The distance between the two original contacts points along the contact normal.
@@ -203,3 +205,9 @@ impl ContactManifoldData {
     //     manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
     // }
 }
+
+/// A contact manifold that can be modified by the user.
+pub struct ModifiableContactManifold<'a> {
+    manifold: &'a super::ContactManifold,
+    solver_contacts: &'a mut Vec<SolverContact>,
+}
-- 
cgit