ODE
0.13.1

Describe the contact point between two geoms. More...
#include <contact.h>
Data Fields  
dVector3  pos 
dVector3  normal 
dReal  depth 
dGeomID  g1 
dGeomID  g2 
int  side1 
int  side2 
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.