b2ManifoldPoint Struct Reference

#include <b2Collision.h>

Collaboration diagram for b2ManifoldPoint:

List of all members.

Public Attributes
b2Vec2	localPoint
	usage depends on manifold type
float32	normalImpulse
	the non-penetration impulse
float32	tangentImpulse
	the friction impulse
b2ContactID	id
	uniquely identifies a contact point between two shapes

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Detailed Description

A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type: -e_circles: the local center of circleB -e_faceA: the local center of cirlceB or the clip point of polygonB -e_faceB: the clip point of polygonA This structure is stored across time steps, so we keep it small. Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.

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Member Data Documentation

b2ContactID b2ManifoldPoint::id

uniquely identifies a contact point between two shapes

b2Vec2 b2ManifoldPoint::localPoint

usage depends on manifold type

float32 b2ManifoldPoint::normalImpulse

the non-penetration impulse

float32 b2ManifoldPoint::tangentImpulse

the friction impulse

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

• b2Collision.h