reactphysics3d::ContactManifold Class Reference

This class represents a set of contact points between two bodies that all have a similar contact normal direction. More...

#include <include/reactphysics3d/collision/ContactManifold.h>

Public Member Functions
	ContactManifold (Entity bodyEntity1, Entity bodyEntity2, Entity colliderEntity1, Entity colliderEntity2, uint32 contactPointsIndex, uint8 nbContactPoints)
	Constructor.

Public Attributes
uint32	contactPointsIndex
	Index of the first contact point of the manifold in the array of contact points.
Entity	bodyEntity1
	Entity of the first body in contact.
Entity	bodyEntity2
	Entity of the second body in contact.
Entity	colliderEntity1
	Entity of the first collider in contact.
Entity	colliderEntity2
	Entity of the second collider in contact.
uint8	nbContactPoints
	Number of contacts in the cache.
Vector3	frictionVector1
	First friction vector of the contact manifold.
Vector3	frictionVector2
	Second friction vector of the contact manifold.
decimal	frictionImpulse1
	First friction constraint accumulated impulse.
decimal	frictionImpulse2
	Second friction constraint accumulated impulse.
decimal	frictionTwistImpulse
	Twist friction constraint accumulated impulse.
bool	isAlreadyInIsland
	True if the contact manifold has already been added into an island.

Static Public Attributes
static constexpr int	MAX_CONTACT_POINTS_IN_MANIFOLD = 4
	Maximum number of contact points in a reduced contact manifold.

Detailed Description

This class represents a set of contact points between two bodies that all have a similar contact normal direction.

Usually, there is a single contact manifold when two convex shapes are in contact. However, when a convex shape collides with a concave shape, there might be several contact manifolds with different normal directions. The contact manifold is implemented in a way to cache the contact points among the frames for better stability (warm starting of the contact solver)

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

• include/reactphysics3d/collision/ContactManifold.h
• src/collision/ContactManifold.cpp