ODE  0.13.1
dContactGeom Struct Reference

Describe the contact point between two geoms. More...

#include <contact.h>

dVector3 pos

dVector3 normal

dReal depth

dGeomID g1

dGeomID g2

int side1

int side2

## Detailed Description

Describe the contact point between two geoms.

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.

The documentation for this struct was generated from the following file:
• /home/danielko/src/ode/include/ode/contact.h