[][src]Struct ncollide3d::query::ContactKinematic

pub struct ContactKinematic<N: Real> { /* fields omitted */ }

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).

Methods

impl<N: Real> ContactKinematic<N>
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Initializes an empty contact kinematic.

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

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

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

The dilation of the first solid.

The dilation of the second solid.

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.

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.

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

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

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

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

Sets the dilation of the first solid.

Sets the dilation of the second solid.

The local approximation of the first shape.

The local approximation of the first shape.

The local approximation of the first shape.

The local approximation of the second shape.

Sets the local approximation of the first shape.

Sets the local approximation of the second shape.

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 + Real> Clone for ContactKinematic<N>
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Performs copy-assignment from source. Read more

impl<N: Debug + Real> Debug for ContactKinematic<N>
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Auto Trait Implementations

impl<N> Send for ContactKinematic<N> where
    N: Scalar

impl<N> Sync for ContactKinematic<N> where
    N: Scalar

Blanket Implementations

impl<T> From for T
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impl<T, U> Into for T where
    U: From<T>, 
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impl<T> ToOwned for T where
    T: Clone
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impl<T, U> TryFrom for T where
    T: From<U>, 
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🔬 This is a nightly-only experimental API. (try_from)

The type returned in the event of a conversion error.

impl<T> Borrow for T where
    T: ?Sized
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impl<T> Any for T where
    T: 'static + ?Sized
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impl<T, U> TryInto for T where
    U: TryFrom<T>, 
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🔬 This is a nightly-only experimental API. (try_from)

The type returned in the event of a conversion error.

impl<T> BorrowMut for T where
    T: ?Sized
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impl<SS, SP> SupersetOf for SP where
    SS: SubsetOf<SP>, 

impl<T> Downcast for T where
    T: Any

impl<T> Same for T

Should always be Self