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

Function Documentation

ManifoldBetweenTwoFaces()

JPH_EXPORT void ManifoldBetweenTwoFaces	(	Vec3Arg	inContactPoint1,
		Vec3Arg	inContactPoint2,
		Vec3Arg	inPenetrationAxis,
		float	inMaxContactDistanceSq,
		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
inMaxContactDistanceSq	After face 2 is clipped against face 1, each remaining point on face 2 is tested against the plane of face 1. If the distance^2 on the positive side of the plane is larger than this distance, the point will be discarded as a contact point.
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 JPH_EXPORT 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