R3ContactManifold Struct Reference

Geometric contact manifold of a contact pair: contacts sharing one normal. More...

#include <rapier.h>

Data Fields
struct R3Vector	local_n1
	Contact normal in collider 1 local coordinates, pointing outward from it.
struct R3Vector	local_n2
	Contact normal in collider 2 local coordinates, pointing outward from it.
struct R3Vector	normal
	World-space contact normal, pointing from collider 1 toward collider 2.
uint32_t	subshape1
	Index of the subshape of collider 1 (for composite shapes), zero otherwise.
uint32_t	subshape2
	Index of the subshape of collider 2 (for composite shapes), zero otherwise.
size_t	num_points
	Number of geometric contact points; see r3ContactPoints.
size_t	num_solver_contacts
	Number of solver contacts; see r3SolverContacts.
uint32_t	user_data
	Application data, persistent across steps and editable by contact-modification hooks.

Detailed Description

Geometric contact manifold of a contact pair: contacts sharing one normal.

Local data follow the pair's own collider1/collider2 order (see r3ContactPair).

Field Documentation

local_n1

struct R3Vector R3ContactManifold::local_n1

Contact normal in collider 1 local coordinates, pointing outward from it.

local_n2

struct R3Vector R3ContactManifold::local_n2

Contact normal in collider 2 local coordinates, pointing outward from it.

normal

struct R3Vector R3ContactManifold::normal

World-space contact normal, pointing from collider 1 toward collider 2.

num_points

size_t R3ContactManifold::num_points

Number of geometric contact points; see r3ContactPoints.

num_solver_contacts

size_t R3ContactManifold::num_solver_contacts

Number of solver contacts; see r3SolverContacts.

subshape1

uint32_t R3ContactManifold::subshape1

Index of the subshape of collider 1 (for composite shapes), zero otherwise.

subshape2

uint32_t R3ContactManifold::subshape2

Index of the subshape of collider 2 (for composite shapes), zero otherwise.

user_data

uint32_t R3ContactManifold::user_data

Application data, persistent across steps and editable by contact-modification hooks.

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

• rapier.h