physics::ClearanceResult Struct Reference

Result of a shape-vs-geometry closest-point clearance query. More...

#include <SweptCollision.hpp>

Public Attributes
bool	contact {false}
	True when distance <= contactEpsilon.
float	distance {1e30f}
	Signed distance shape-surface → geometry-surface.
glm::vec3	pointOnGeometry {0.0f}
	World-space closest point on the geometry side.
glm::vec3	normal {0.0f, 1.0f, 0.0f}
	Unit-length, points from geometry into free space.
SurfaceType	surfaceType {SurfaceType::Concrete}
	Material tag at the closest feature.

Detailed Description

Result of a shape-vs-geometry closest-point clearance query.

Used by Phase-C conservative-advancement integration (Mirtich 2000): the CA inner loop alternates closest-point queries with velocity- projected advances, guaranteeing no penetration regardless of motion magnitude. Also consumed by Phase-D wallrun, which uses it to anchor the player to the nearest wall surface across any primitive type.

Sign convention: distance > 0 means the shape's surface is distance away from the geometry's surface in 3D. distance == 0 is grazing contact. distance < 0 is penetration (depth = -distance) — depen handles the recovery; CA treats this as "in contact" and clips velocity into the surface.

normal always points AWAY from the geometry into free space — i.e., pushing the shape along +normal moves it out of the obstacle.

Member Data Documentation

contact

bool physics::ClearanceResult::contact {false}

True when distance <= contactEpsilon.

distance

float physics::ClearanceResult::distance {1e30f}

Signed distance shape-surface → geometry-surface.

normal

glm::vec3 physics::ClearanceResult::normal {0.0f, 1.0f, 0.0f}

Unit-length, points from geometry into free space.

pointOnGeometry

glm::vec3 physics::ClearanceResult::pointOnGeometry {0.0f}

World-space closest point on the geometry side.

surfaceType

SurfaceType physics::ClearanceResult::surfaceType {SurfaceType::Concrete}

Material tag at the closest feature.

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

• src/ecs/physics/SweptCollision.hpp