ManifoldBetweenTwoFaces.h File Reference

#include <Jolt/Physics/Collision/Shape/ConvexShape.h>
#include <Jolt/Physics/Collision/ContactListener.h>

Go to the source code of this file.

Functions
JPH_NAMESPACE_BEGIN void	PruneContactPoints (Vec3Arg inPenetrationAxis, ContactPoints &ioContactPointsOn1, ContactPoints &ioContactPointsOn2, RVec3Arg inCenterOfMass)
void	ManifoldBetweenTwoFaces (Vec3Arg inContactPoint1, Vec3Arg inContactPoint2, Vec3Arg inPenetrationAxis, float inSpeculativeContactDistanceSq, const ConvexShape::SupportingFace &inShape1Face, const ConvexShape::SupportingFace &inShape2Face, ContactPoints &outContactPoints1, ContactPoints &outContactPoints2, RVec3Arg inCenterOfMass)

Function Documentation

ManifoldBetweenTwoFaces()

void ManifoldBetweenTwoFaces	(	Vec3Arg	inContactPoint1,
		Vec3Arg	inContactPoint2,
		Vec3Arg	inPenetrationAxis,
		float	inSpeculativeContactDistanceSq,
		const ConvexShape::SupportingFace &	inShape1Face,
		const ConvexShape::SupportingFace &	inShape2Face,
		ContactPoints &	outContactPoints1,
		ContactPoints &	outContactPoints2,
		RVec3Arg	inCenterOfMass
	)

Determine contact points between 2 faces of 2 shapes and return them in outContactPoints 1 & 2

Parameters

inContactPoint1	The contact point on shape 1 relative to inCenterOfMass
inContactPoint2	The contact point on shape 2 relative to inCenterOfMass
inPenetrationAxis	The local space penetration axis in world space
inSpeculativeContactDistanceSq	Squared speculative contact distance, any contact further apart than this distance will be discarded
inShape1Face	The supporting faces on shape 1 relative to inCenterOfMass
inShape2Face	The supporting faces on shape 2 relative to inCenterOfMass
outContactPoints1	Returns the contact points between the two shapes for shape 1 relative to inCenterOfMass (any existing points in the output array are left as is)
outContactPoints2	Returns the contact points between the two shapes for shape 2 relative to inCenterOfMass (any existing points in the output array are left as is)
inCenterOfMass	Center of mass position of body 1

PruneContactPoints()

JPH_NAMESPACE_BEGIN void PruneContactPoints	(	Vec3Arg	inPenetrationAxis,
		ContactPoints &	ioContactPointsOn1,
		ContactPoints &	ioContactPointsOn2,
		RVec3Arg	inCenterOfMass
	)

Remove contact points if there are > 4 (no more than 4 are needed for a stable solution)

Parameters

inPenetrationAxis	is the world space penetration axis (must be normalized)
ioContactPointsOn1	The contact points on shape 1 relative to inCenterOfMass
ioContactPointsOn2	The contact points on shape 2 relative to inCenterOfMass On output ioContactPointsOn1/2 are reduced to 4 or less points
inCenterOfMass	Center of mass position of body 1