playrho::d2::WorldManifold Class Reference

Essentially a Manifold expressed in world coordinate terms. More...

#include <WorldManifold.hpp>

Collaboration diagram for playrho::d2::WorldManifold:

Classes
struct	PointData
	Point data for world manifold. More...

Public Types
using	size_type = std::remove_const< decltype(MaxManifoldPoints)>::type
	Size type.

Public Member Functions
	WorldManifold ()=default
	Default constructor. More...
constexpr	WorldManifold (UnitVec normal) noexcept
	Initializing constructor.
constexpr	WorldManifold (UnitVec normal, PointData ps0) noexcept
	Initializing constructor.
constexpr	WorldManifold (UnitVec normal, PointData ps0, PointData ps1) noexcept
	Initializing constructor.
size_type	GetPointCount () const noexcept
	Gets the point count. More...
UnitVec	GetNormal () const noexcept
	Gets the normal of the contact. More...
Length2	GetPoint (size_type index) const noexcept
	Gets the indexed point's location in world coordinates. More...
Length	GetSeparation (size_type index) const noexcept
	Gets the amount of separation at the given indexed point. More...
Momentum2	GetImpulses (size_type index) const noexcept
	Gets the given index contact impulses. More...

Private Attributes
UnitVec	m_normal = GetInvalid<UnitVec>()
	world vector pointing from A to B
Length2	m_points [MaxManifoldPoints] = {GetInvalid<Length2>(), GetInvalid<Length2>()}
	Points. More...
Momentum2	m_impulses [MaxManifoldPoints] = {Momentum2{}, Momentum2{}}
	Impulses. More...
Length	m_separations [MaxManifoldPoints] = {GetInvalid<Length>(), GetInvalid<Length>()}
	Separations. More...

Detailed Description

Essentially a Manifold expressed in world coordinate terms.

Used to recognize the current state of a contact manifold in world coordinates.

Note

This data structure is 48-bytes large (on at least one 64-bit platform).

See also

GetWorldManifold

Examples

WorldContact.cpp.

Constructor & Destructor Documentation

WorldManifold()

playrho::d2::WorldManifold::WorldManifold ( )

default

Default constructor.

A default constructed world manifold will gave a point count of zero, an invalid normal, invalid points, and invalid separations.

Member Function Documentation

GetImpulses()

Momentum2 playrho::d2::WorldManifold::GetImpulses ( size_type  index ) const

inlinenoexcept

Gets the given index contact impulses.

Returns

"Normal impulse" and "tangent impulse" pair.

GetNormal()

UnitVec playrho::d2::WorldManifold::GetNormal ( ) const

inlinenoexcept

Gets the normal of the contact.

This is a directional unit-vector.

Returns

Normal of the contact or an invalid value.

GetPoint()

Length2 playrho::d2::WorldManifold::GetPoint ( size_type  index ) const

inlinenoexcept

Gets the indexed point's location in world coordinates.

Warning

Behavior is undefined if the index value is not less than MaxManifoldPoints

Parameters

index

Index to return point for. This must be between 0 and GetPointCount() to get a valid point from this method.

Returns

Point or an invalid value if the given index was invalid.

GetPointCount()

size_type playrho::d2::WorldManifold::GetPointCount ( ) const

inlinenoexcept

Gets the point count.

This is the maximum index value that can be used to access valid point or separation information.

Returns

Value between 0 and 2.

GetSeparation()

Length playrho::d2::WorldManifold::GetSeparation ( size_type  index ) const

inlinenoexcept

Gets the amount of separation at the given indexed point.

Warning

Behavior is undefined if the index value is not less than MaxManifoldPoints

Parameters

index

Index to return separation for. This must be between 0 and GetPointCount().

Returns

Separation amount (a negative value), or an invalid value if the given index was invalid.

Member Data Documentation

m_impulses

Momentum2 playrho::d2::WorldManifold::m_impulses[MaxManifoldPoints] = {Momentum2{}, Momentum2{}}

private

Impulses.

Note

16-bytes.

Referenced by GetImpulses().

m_points

Length2 playrho::d2::WorldManifold::m_points[MaxManifoldPoints] = {GetInvalid<Length2>(), GetInvalid<Length2>()}

private

Points.

Manifold's contact points in world coordinates (mid-point of intersection)

Note

16-bytes.

Referenced by GetPoint().

m_separations

Length playrho::d2::WorldManifold::m_separations[MaxManifoldPoints] = {GetInvalid<Length>(), GetInvalid<Length>()}

private

Separations.

A negative value indicates overlap.

Referenced by GetPointCount(), and GetSeparation().

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The documentation for this class was generated from the following file:

• WorldManifold.hpp