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

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

#include <playrho/d2/Manifold.hpp>

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

Public Attributes
ContactFeature	contactFeature {}
	The contact feature. More...
Length2	localPoint {}
	Local point. More...
Momentum	normalImpulse {}
	Normal impulse. More...
Momentum	tangentImpulse {}
	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 not equal.
bool	operator== (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are 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.

Member Data Documentation

contactFeature

ContactFeature playrho::d2::Manifold::Point::contactFeature {}

The contact feature.

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

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.

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

normalImpulse

Momentum playrho::d2::Manifold::Point::normalImpulse {}

Normal impulse.

This is the non-penetration impulse.

Note

This is only used for velocity constraint resolution.

tangentImpulse

Momentum playrho::d2::Manifold::Point::tangentImpulse {}

Tangent impulse.

This is the friction impulse.

Note

This is only used for velocity constraint resolution.

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

• Library/include/playrho/d2/Manifold.hpp