physics::ContactPoint Struct Reference

One sub-contact in a multi-point manifold. More...

#include <ContactManifold.hpp>

Collaboration diagram for physics::ContactPoint:

Public Attributes
glm::vec3	worldPositionA {0.0f}
	World-space hit point on body A.
glm::vec3	worldPositionB {0.0f}
	World-space hit point on body B.
glm::vec3	localA {0.0f}
	Body-A-local offset for warm-start matching.
glm::vec3	localB {0.0f}
	Body-B-local offset.
float	depth = 0.0f
	Penetration depth (positive = overlapping).
float	normalImpulse = 0.0f
	Accumulated normal impulse, carried across frames.
float	tangentImpulse [2] = {0.0f, 0.0f}
	Two friction tangents.
ContactFeatureId	featureId {}

Detailed Description

One sub-contact in a multi-point manifold.

Member Data Documentation

depth

float physics::ContactPoint::depth = 0.0f

Penetration depth (positive = overlapping).

featureId

ContactFeatureId physics::ContactPoint::featureId {}

localA

glm::vec3 physics::ContactPoint::localA {0.0f}

Body-A-local offset for warm-start matching.

localB

glm::vec3 physics::ContactPoint::localB {0.0f}

Body-B-local offset.

normalImpulse

float physics::ContactPoint::normalImpulse = 0.0f

Accumulated normal impulse, carried across frames.

tangentImpulse

float physics::ContactPoint::tangentImpulse[2] = {0.0f, 0.0f}

Two friction tangents.

worldPositionA

glm::vec3 physics::ContactPoint::worldPositionA {0.0f}

World-space hit point on body A.

worldPositionB

glm::vec3 physics::ContactPoint::worldPositionB {0.0f}

World-space hit point on body B.

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

• src/ecs/physics/ContactManifold.hpp