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class ContactConstraint

package oimo.dynamics.constraint.contact

@:directlyUsed@:build(oimo.m.B.bu())

A contact constraint provides collision information for a contact constraint solver. This holds a contact manifold, which has some contact points, contact normals, and contact impulses. See Manifold for more information.

Methods

inlinegetManifold():Manifold

Returns the contact manifold.

inlinegetShape1():Shape

Returns the first shape of the contact.

inlinegetShape2():Shape

Returns the second shape of the contact.

isTouching():Bool

Returns whether the two rigid bodies are touching.