dContactGeom Struct Reference

struct dContactGeom

If two bodies touch, or if a body touches a static feature in its environment, the contact is represented by one or more "contact points", described by dContactGeom.

The convention is that if body 1 is moved along the normal vector by a distance depth (or equivalently if body 2 is moved the same distance in the opposite direction) then the contact depth will be reduced to zero. This means that the normal vector points "in" to body 1.

Member Data Documentation

dReal depth

dReal depth

dGeomID g2

dGeomID g2

dVector3 normal

dVector3 normal

dVector3 pos

dVector3 pos

int side2

intside2