R3SolverContact Struct Reference

Contact seen by the constraint solver. More...

#include <rapier.h>

Data Fields
struct R3Vector	point1
	World-space contact point on collider 1's body.
struct R3Vector	point2
	World-space contact point on collider 2's body.
R3Real	distance
	Signed separation along the normal, contact skins deducted; negative means penetration.
struct R3Vector	tangent_velocity
	Desired world-space tangent relative velocity, e.g.

Detailed Description

Contact seen by the constraint solver.

Points are world-space, on each body's surface.

Field Documentation

distance

R3Real R3SolverContact::distance

Signed separation along the normal, contact skins deducted; negative means penetration.

point1

struct R3Vector R3SolverContact::point1

World-space contact point on collider 1's body.

point2

struct R3Vector R3SolverContact::point2

World-space contact point on collider 2's body.

tangent_velocity

struct R3Vector R3SolverContact::tangent_velocity

Desired world-space tangent relative velocity, e.g.

for conveyor belts; zero by default.

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

• rapier.h