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: