[][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 dilation of the first solid.

Sets the dilation of the second solid.

Define as a plane the local approximation of the shape of the first solid.

Define as a plane the local approximation of the shape of the second solid.

Define as a line the local approximation of the shape of the second solid.

Define as a line the local approximation of the shape of the second solid.

Define as a point the local approximation of the shape of the second solid.

Define as a point the local approximation of the shape of the second solid.

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

The vector default_normal1 is the normal of the resulting contactc 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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Returns a copy of the value. Read more

Performs copy-assignment from source. Read more

impl<N: Debug + Real> Debug for ContactKinematic<N>
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Formats the value using the given formatter. Read more

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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Performs the conversion.

impl<T, U> Into for T where
    U: From<T>, 
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Performs the conversion.

impl<T> ToOwned for T where
    T: Clone
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Creates owned data from borrowed data, usually by cloning. Read more

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

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.

🔬 This is a nightly-only experimental API. (try_from)

Performs the conversion.

impl<T> Borrow for T where
    T: ?Sized
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Immutably borrows from an owned value. Read more

impl<T> Any for T where
    T: 'static + ?Sized
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🔬 This is a nightly-only experimental API. (get_type_id)

this method will likely be replaced by an associated static

Gets the TypeId of self. Read more

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.

🔬 This is a nightly-only experimental API. (try_from)

Performs the conversion.

impl<T> BorrowMut for T where
    T: ?Sized
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Mutably borrows from an owned value. Read more

impl<SS, SP> SupersetOf for SP where
    SS: SubsetOf<SP>, 

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

Checks if self is actually part of its subset T (and can be converted to it).

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

The inclusion map: converts self to the equivalent element of its superset.

impl<T> Same for T

Should always be Self