Struct b3ManifoldPoint

Namespace

Box3D.Native

Assembly

Box3D.NET.Native.dll

A contact point within a manifold. Mirror of b3ManifoldPoint.

public struct b3ManifoldPoint

Inherited Members

object.Equals(object?)

object.Equals(object?, object?)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object?, object?)

object.ToString()

Remarks

Box3D uses speculative collision, so a manifold point may be separated rather than touching. Use Box3D.Native.b3ManifoldPoint.totalNormalImpulse to tell whether the point actually interacted during the step.

Fields

anchorA

The contact point relative to body A's centre of mass, in world space.

anchorB

The contact point relative to body B's centre of mass, in world space.

baseSeparation

The cached separation used for contact recycling.

featureId

A stable identifier for this contact point between the two shapes, used to match points across steps for warm starting.

normalImpulse

The impulse along the manifold normal from the final sub-step.

normalVelocity

The relative normal velocity before solving, used for hit events. Negative means the shapes are approaching.

persisted

Whether this point also existed in the previous step.

separation

The separation of the contact point. Negative when penetrating.

totalNormalImpulse

The total normal impulse applied across all sub-steps.

triangleIndex

The triangle index when one of the shapes is a mesh or height field.