ContactManifold Class Reference

Manifold class, describes the contact surface between two bodies. More...

#include <ContactListener.h>

Public Member Functions
ContactManifold	SwapShapes () const
	Swaps shape 1 and 2.
RVec3	GetWorldSpaceContactPointOn1 (uint inIndex) const
	Access to the world space contact positions.
RVec3	GetWorldSpaceContactPointOn2 (uint inIndex) const

Public Attributes
RVec3	mBaseOffset
	Offset to which all the contact points are relative.
Vec3	mWorldSpaceNormal
	Normal for this manifold, direction along which to move body 2 out of collision along the shortest path.
float	mPenetrationDepth
	Penetration depth (move shape 2 by this distance to resolve the collision). If this value is negative, this is a speculative contact point and may not actually result in a velocity change as during solving the bodies may not actually collide.
SubShapeID	mSubShapeID1
	Sub shapes that formed this manifold (note that when multiple manifolds are combined because they're coplanar, we lose some information here because we only keep track of one sub shape pair that we encounter, see description at Body::SetUseManifoldReduction)
SubShapeID	mSubShapeID2
ContactPoints	mRelativeContactPointsOn1
	Contact points on the surface of shape 1 relative to mBaseOffset.
ContactPoints	mRelativeContactPointsOn2
	Contact points on the surface of shape 2 relative to mBaseOffset. If there's no penetration, this will be the same as mRelativeContactPointsOn1. If there is penetration they will be different.

Detailed Description

Manifold class, describes the contact surface between two bodies.

Member Function Documentation

GetWorldSpaceContactPointOn1()

RVec3 ContactManifold::GetWorldSpaceContactPointOn1 ( uint  inIndex ) const

inline

Access to the world space contact positions.

GetWorldSpaceContactPointOn2()

RVec3 ContactManifold::GetWorldSpaceContactPointOn2 ( uint  inIndex ) const

inline

SwapShapes()

ContactManifold ContactManifold::SwapShapes ( ) const

inline

Swaps shape 1 and 2.

Member Data Documentation

mBaseOffset

RVec3 ContactManifold::mBaseOffset

Offset to which all the contact points are relative.

mPenetrationDepth

float ContactManifold::mPenetrationDepth

Penetration depth (move shape 2 by this distance to resolve the collision). If this value is negative, this is a speculative contact point and may not actually result in a velocity change as during solving the bodies may not actually collide.

mRelativeContactPointsOn1

ContactPoints ContactManifold::mRelativeContactPointsOn1

Contact points on the surface of shape 1 relative to mBaseOffset.

mRelativeContactPointsOn2

ContactPoints ContactManifold::mRelativeContactPointsOn2

Contact points on the surface of shape 2 relative to mBaseOffset. If there's no penetration, this will be the same as mRelativeContactPointsOn1. If there is penetration they will be different.

mSubShapeID1

SubShapeID ContactManifold::mSubShapeID1

Sub shapes that formed this manifold (note that when multiple manifolds are combined because they're coplanar, we lose some information here because we only keep track of one sub shape pair that we encounter, see description at Body::SetUseManifoldReduction)

mSubShapeID2

SubShapeID ContactManifold::mSubShapeID2

mWorldSpaceNormal

Vec3 ContactManifold::mWorldSpaceNormal

Normal for this manifold, direction along which to move body 2 out of collision along the shortest path.

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

• Jolt/Physics/Collision/ContactListener.h