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

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: RealField> ContactKinematic<N>`

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`pub fn new() -> Self`

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Initializes an empty contact kinematic.

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

.

`pub fn transform1(&mut self, m: &Isometry<N>)`

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

`pub fn transform2(&mut self, m: &Isometry<N>)`

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

`pub fn dilation1(&self) -> N`

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The dilation of the first solid.

`pub fn dilation2(&self) -> N`

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The dilation of the second solid.

`pub fn local1(&self) -> Point<N>`

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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.

`pub fn local2(&self) -> Point<N>`

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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.

`pub fn feature1(&self) -> FeatureId`

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

`pub fn feature2(&self) -> FeatureId`

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

`pub fn set_feature1(&mut self, f: FeatureId)`

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

`pub fn set_feature2(&mut self, f: FeatureId)`

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

`pub fn set_dilation1(&mut self, margin: N)`

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Sets the dilation of the first solid.

`pub fn set_dilation2(&mut self, margin: N)`

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Sets the dilation of the second solid.

`pub fn approx1(&self) -> &LocalShapeApproximation<N>`

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The local approximation of the first shape.

`pub fn approx2(&self) -> &LocalShapeApproximation<N>`

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The local approximation of the first shape.

`pub fn approx1_mut(&mut self) -> &mut LocalShapeApproximation<N>`

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The local approximation of the first shape.

`pub fn approx2_mut(&mut self) -> &mut LocalShapeApproximation<N>`

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The local approximation of the second shape.

`pub fn set_approx1(`

&mut self,

feature: FeatureId,

point: Point<N>,

geom: NeighborhoodGeometry<N>

)

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&mut self,

feature: FeatureId,

point: Point<N>,

geom: NeighborhoodGeometry<N>

)

Sets the local approximation of the first shape.

`pub fn set_approx2(`

&mut self,

feature: FeatureId,

point: Point<N>,

geom: NeighborhoodGeometry<N>

)

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&mut self,

feature: FeatureId,

point: Point<N>,

geom: NeighborhoodGeometry<N>

)

Sets the local approximation of the second shape.

`pub fn contact(`

&self,

m1: &Isometry<N>,

s1: &dyn Shape<N>,

deformations1: Option<&[N]>,

m2: &Isometry<N>,

s2: &dyn Shape<N>,

deformations2: Option<&[N]>,

default_normal1: &Unit<Vector<N>>

) -> Option<Contact<N>>

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&self,

m1: &Isometry<N>,

s1: &dyn Shape<N>,

deformations1: Option<&[N]>,

m2: &Isometry<N>,

s2: &dyn Shape<N>,

deformations2: Option<&[N]>,

default_normal1: &Unit<Vector<N>>

) -> Option<Contact<N>>

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 + RealField> Clone for ContactKinematic<N>`

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`fn clone(&self) -> ContactKinematic<N>`

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`fn clone_from(&mut self, source: &Self)`

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`impl<N: Copy + RealField> Copy for ContactKinematic<N>`

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`impl<N: Debug + RealField> Debug for ContactKinematic<N>`

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## Auto Trait Implementations

`impl<N> RefUnwindSafe for ContactKinematic<N> where`

N: RefUnwindSafe + Scalar,

N: RefUnwindSafe + Scalar,

`impl<N> Send for ContactKinematic<N> where`

N: Scalar,

N: Scalar,

`impl<N> Sync for ContactKinematic<N> where`

N: Scalar,

N: Scalar,

`impl<N> Unpin for ContactKinematic<N> where`

N: Scalar + Unpin,

N: Scalar + Unpin,

`impl<N> UnwindSafe for ContactKinematic<N> where`

N: Scalar + UnwindSafe,

N: Scalar + UnwindSafe,

## Blanket Implementations

`impl<T> Any for T where`

T: 'static + ?Sized,

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T: 'static + ?Sized,

`impl<T> Borrow<T> for T where`

T: ?Sized,

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T: ?Sized,

`impl<T> BorrowMut<T> for T where`

T: ?Sized,

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T: ?Sized,

`fn borrow_mut(&mut self) -> &mut T`

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`impl<T> Downcast for T where`

T: Any,

T: Any,

`fn into_any(self: Box<T>) -> Box<dyn Any + 'static>`

`fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>`

`fn as_any(&self) -> &(dyn Any + 'static)`

`fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<T> DowncastSync for T where`

T: Send + Sync + Any,

T: Send + Sync + Any,

`impl<T> From<T> for T`

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`impl<T, U> Into<U> for T where`

U: From<T>,

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U: From<T>,

`impl<T> Same<T> for T`

`type Output = T`

Should always be `Self`

`impl<T> Slottable for T where`

T: Copy,

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T: Copy,

`impl<SS, SP> SupersetOf<SS> for SP where`

SS: SubsetOf<SP>,

SS: SubsetOf<SP>,

`fn to_subset(&self) -> Option<SS>`

`fn is_in_subset(&self) -> bool`

`unsafe fn to_subset_unchecked(&self) -> SS`

`fn from_subset(element: &SS) -> SP`

`impl<T> ToOwned for T where`

T: Clone,

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T: Clone,

`type Owned = T`

The resulting type after obtaining ownership.

`fn to_owned(&self) -> T`

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`fn clone_into(&self, target: &mut T)`

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`impl<T, U> TryFrom<U> for T where`

U: Into<T>,

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U: Into<T>,

`type Error = Infallible`

The type returned in the event of a conversion error.

`fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`

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`impl<T, U> TryInto<U> for T where`

U: TryFrom<T>,

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U: TryFrom<T>,

`type Error = <U as TryFrom<T>>::Error`

The type returned in the event of a conversion error.

`fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`

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`impl<V, T> VZip<V> for T where`

V: MultiLane<T>,

V: MultiLane<T>,