btManifoldPoint Class Reference

ManifoldContactPoint collects and maintains persistent contactpoints. More...

#include <btManifoldPoint.h>

Collaboration diagram for btManifoldPoint:

Public Member Functions
	btManifoldPoint ()
	btManifoldPoint (const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
btScalar	getDistance () const
int	getLifeTime () const
const btVector3 &	getPositionWorldOnA () const
const btVector3 &	getPositionWorldOnB () const
void	setDistance (btScalar dist)
btScalar	getAppliedImpulse () const
	this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver More...

Public Attributes
btVector3	m_localPointA
btVector3	m_localPointB
btVector3	m_positionWorldOnB
btVector3	m_positionWorldOnA
	m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity More...
btVector3	m_normalWorldOnB
btScalar	m_distance1
btScalar	m_combinedFriction
btScalar	m_combinedRollingFriction
btScalar	m_combinedSpinningFriction
btScalar	m_combinedRestitution
int	m_partId0
int	m_partId1
int	m_index0
int	m_index1
void *	m_userPersistentData
int	m_contactPointFlags
btScalar	m_appliedImpulse
btScalar	m_appliedImpulseLateral1
btScalar	m_appliedImpulseLateral2
btScalar	m_contactMotion1
btScalar	m_contactMotion2
union {
btScalar   m_contactCFM
btScalar   m_combinedContactStiffness1
};
union {
btScalar   m_contactERP
btScalar   m_combinedContactDamping1
};
btScalar	m_frictionCFM
int	m_lifeTime
btVector3	m_lateralFrictionDir1
btVector3	m_lateralFrictionDir2

Detailed Description

ManifoldContactPoint collects and maintains persistent contactpoints.

used to improve stability and performance of rigidbody dynamics response.

Definition at line 49 of file btManifoldPoint.h.

Constructor & Destructor Documentation

btManifoldPoint::btManifoldPoint ( )

inline

Definition at line 52 of file btManifoldPoint.h.

btManifoldPoint::btManifoldPoint ( const btVector3 &  pointA, const btVector3 &  pointB, const btVector3 &  normal, btScalar  distance  )

inline

Definition at line 67 of file btManifoldPoint.h.

Member Function Documentation

btScalar btManifoldPoint::getAppliedImpulse ( ) const

inline

this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver

Definition at line 171 of file btManifoldPoint.h.

btScalar btManifoldPoint::getDistance ( ) const

inline

Definition at line 146 of file btManifoldPoint.h.

int btManifoldPoint::getLifeTime ( ) const

inline

Definition at line 150 of file btManifoldPoint.h.

const btVector3& btManifoldPoint::getPositionWorldOnA ( ) const

inline

Definition at line 155 of file btManifoldPoint.h.

const btVector3& btManifoldPoint::getPositionWorldOnB ( ) const

inline

Definition at line 160 of file btManifoldPoint.h.

void btManifoldPoint::setDistance ( btScalar  dist )

inline

Definition at line 165 of file btManifoldPoint.h.

Member Data Documentation

union { ... }

union { ... }

btScalar btManifoldPoint::m_appliedImpulse

Definition at line 118 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_appliedImpulseLateral1

Definition at line 119 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_appliedImpulseLateral2

Definition at line 120 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedContactDamping1

Definition at line 133 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedContactStiffness1

Definition at line 127 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedFriction

Definition at line 103 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedRestitution

Definition at line 106 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedRollingFriction

Definition at line 104 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedSpinningFriction

Definition at line 105 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactCFM

Definition at line 126 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactERP

Definition at line 132 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactMotion1

Definition at line 121 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactMotion2

Definition at line 122 of file btManifoldPoint.h.

int btManifoldPoint::m_contactPointFlags

Definition at line 116 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_distance1

Definition at line 102 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_frictionCFM

Definition at line 136 of file btManifoldPoint.h.

int btManifoldPoint::m_index0

Definition at line 111 of file btManifoldPoint.h.

int btManifoldPoint::m_index1

Definition at line 112 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_lateralFrictionDir1

Definition at line 140 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_lateralFrictionDir2

Definition at line 141 of file btManifoldPoint.h.

int btManifoldPoint::m_lifeTime

Definition at line 138 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_localPointA

Definition at line 95 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_localPointB

Definition at line 96 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_normalWorldOnB

Definition at line 100 of file btManifoldPoint.h.

int btManifoldPoint::m_partId0

Definition at line 109 of file btManifoldPoint.h.

int btManifoldPoint::m_partId1

Definition at line 110 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_positionWorldOnA

m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity

Definition at line 99 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_positionWorldOnB

Definition at line 97 of file btManifoldPoint.h.

void* btManifoldPoint::m_userPersistentData

mutable

Definition at line 114 of file btManifoldPoint.h.

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

• btManifoldPoint.h