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b2ManifoldPoint Struct Reference

#include <b2Collision.h>

Public Attributes

b2Vec2 localPoint
 usage depends on manifold type
float32 normalImpulse
 the non-penetration impulse
float32 tangentImpulse
 the friction impulse
b2ContactID id
 uniquely identifies a contact point between two shapes

Detailed Description

A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type: -e_circles: the local center of circleB -e_faceA: the local center of cirlceB or the clip point of polygonB -e_faceB: the clip point of polygonA This structure is stored across time steps, so we keep it small. Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.

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