Contact Class Reference

A data structure to pass data received from a collision to the solver. More...

#include "contact.hpp"

Public Member Functions
	Contact (CollisionBody &hullA, CollisionBody &hullB)
	Constructor, instantiated with the collision query between two CollisionBody objects. More...
int	applyImpulse ()
	Impulse-solver function, applies both normal impulse and friction impulses. More...
int	preStep (float dt)
	Apply impulse from previous frame for better coherence. More...

Public Attributes
vec3	normal = vec3(0,0,0)
vec3	tangent = vec3(0,0,0)
vec3	bitangent = vec3(0,0,0)
vec3	collision_point
float	penetration = 0
float	bias = 0
float	effective_mass_bitangent = 0.0f
float	effective_mass_tangent = 0.0f
float	effective_mass_normal = 0.0f
float	Pn = 0
float	Pt = 0
float	Pbt = 0
RigidBody *	body_a
RigidBody *	body_b
CollisionBody *	col_body_a
CollisionBody *	col_body_b
ContactType	type
vector< int >	id
int	warmStartNo = 0

Static Public Attributes
static vector< Contact >	allContacts
static unsigned int	iterations

Detailed Description

A data structure to pass data received from a collision to the solver.

Constructor & Destructor Documentation

Contact()

Contact::Contact	(	CollisionBody &	hullA,
		CollisionBody &	hullB
	)

Constructor, instantiated with the collision query between two CollisionBody objects.

Member Function Documentation

applyImpulse()

int Contact::applyImpulse

(

)

Impulse-solver function, applies both normal impulse and friction impulses.

preStep()

int Contact::preStep

(

float

dt

)

Apply impulse from previous frame for better coherence.

Member Data Documentation

allContacts

vector<Contact> Contact::allContacts

static

bias

float Contact::bias = 0

bitangent

vec3 Contact::bitangent = vec3(0,0,0)

body_a

RigidBody* Contact::body_a

body_b

RigidBody* Contact::body_b

col_body_a

CollisionBody* Contact::col_body_a

col_body_b

CollisionBody* Contact::col_body_b

collision_point

vec3 Contact::collision_point

effective_mass_bitangent

float Contact::effective_mass_bitangent = 0.0f

effective_mass_normal

float Contact::effective_mass_normal = 0.0f

effective_mass_tangent

float Contact::effective_mass_tangent = 0.0f

id

vector<int> Contact::id

iterations

unsigned int Contact::iterations

static

normal

vec3 Contact::normal = vec3(0,0,0)

Pbt

float Contact::Pbt = 0

penetration

float Contact::penetration = 0

Pn

float Contact::Pn = 0

Pt

float Contact::Pt = 0

tangent

vec3 Contact::tangent = vec3(0,0,0)

type

ContactType Contact::type

warmStartNo

int Contact::warmStartNo = 0

---

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

• include/contact.hpp