ODE  0.13.1
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dContactGeom Struct Reference

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
 

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: