playrho::d2::Manifold::Point Struct Reference

Data for a point of collision in a Manifold. More...

#include <Manifold.hpp>

Collaboration diagram for playrho::d2::Manifold::Point:

Public Attributes
Length2	localPoint
	Local point. More...
ContactFeature	contactFeature
	Contact feature. More...
Momentum	normalImpulse = 0_Ns
	Normal impulse. More...
Momentum	tangentImpulse = 0_Ns
	Tangent impulse. More...

Related Functions
(Note that these are not member functions.)
bool	operator== (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are equal.
bool	operator!= (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are not equal.

Detailed Description

Data for a point of collision in a Manifold.

This is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points.

Note

The impulses are used for internal caching and may not provide reliable contact forces especially for high speed collisions.

This structure is at least 20-bytes large.

Member Data Documentation

contactFeature

ContactFeature playrho::d2::Manifold::Point::contactFeature

Contact feature.

Uniquely identifies a contact point between two shapes - A and B.

Note

This field is 4-bytes.

See also

GetPointStates.

localPoint

Length2 playrho::d2::Manifold::Point::localPoint

Local point.

Usage depends on manifold type.

Note

For circles type manifolds, this is the local center of circle B.

For face-A type manifolds, this is the local center of "circle" B or a clip point of shape B. It is also the point at which impulse forces should be relatively applied for position resolution.

For face-B type manifolds, this is the local center of "circle" A or a clip point of shape A. It is also the point at which impulse forces should be relatively applied for position resolution.

8-bytes.

Examples

World.cpp.

Referenced by playrho::d2::GetPSM().

normalImpulse

Momentum playrho::d2::Manifold::Point::normalImpulse = 0_Ns

Normal impulse.

This is the non-penetration impulse.

Note

This is only used for velocity constraint resolution.

4-bytes.

Examples

World.cpp.

tangentImpulse

Momentum playrho::d2::Manifold::Point::tangentImpulse = 0_Ns

Tangent impulse.

This is the friction impulse.

Note

This is only used for velocity constraint resolution.

4-bytes.

Examples

World.cpp.

---

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

• Manifold.hpp