PositionSolverManifold.hpp File Reference

Definition of the PositionSolverManifold class and closely related code. More...

#include <playrho/Units.hpp>
#include <playrho/Vector2.hpp>
#include <playrho/d2/Manifold.hpp>

Include dependency graph for PositionSolverManifold.hpp:

Classes
struct	playrho ::d2::PositionSolverManifold

Functions
PositionSolverManifold	playrho ::d2::GetPSM (const Manifold &manifold, Manifold::size_type index, const Transformation &xfA, const Transformation &xfB)
	Gets the normal-point-separation data in world coordinates for the given inputs. More...

Detailed Description

Definition of the PositionSolverManifold class and closely related code.

Function Documentation

GetPSM()

PositionSolverManifold playrho ::d2::GetPSM	(	const Manifold &	manifold,
		Manifold::size_type	index,
		const Transformation &	xfA,
		const Transformation &	xfB
	)

Gets the normal-point-separation data in world coordinates for the given inputs.

Note

The returned normal is in the direction of shape A to shape B.

The returned separation distance does not account for vertex radiuses. It's simply the separation between the points of the manifold. To account for the vertex radiuses, the total vertex radius must be subtracted from this separation distance.

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