R3ContactPoint Struct Reference

One manifold contact and its normal solver impulse. More...

#include <rapier.h>

Data Fields
size_t	manifold_index
	Index of the contact manifold within its pair.
struct R3Vector	local_p1
	Contact point in collider 1 local coordinates.
struct R3Vector	local_p2
	Contact point in collider 2 local coordinates.
struct R3Vector	normal
	World-space contact or surface normal.
R3Real	distance
	Signed separation; negative means penetration.
R3Real	impulse
	Normal impulse applied at this contact.
R3Real	tangent_impulse [2]
	Friction impulses along the two tangent basis vectors of the contact.

Detailed Description

One manifold contact and its normal solver impulse.

Field Documentation

distance

R3Real R3ContactPoint::distance

Signed separation; negative means penetration.

impulse

R3Real R3ContactPoint::impulse

Normal impulse applied at this contact.

local_p1

struct R3Vector R3ContactPoint::local_p1

Contact point in collider 1 local coordinates.

local_p2

struct R3Vector R3ContactPoint::local_p2

Contact point in collider 2 local coordinates.

manifold_index

size_t R3ContactPoint::manifold_index

Index of the contact manifold within its pair.

normal

struct R3Vector R3ContactPoint::normal

World-space contact or surface normal.

tangent_impulse

R3Real R3ContactPoint::tangent_impulse[2]

Friction impulses along the two tangent basis vectors of the contact.

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

• rapier.h