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class Manifold

package oimo.dynamics.constraint.contact

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

A contact manifold holds collision data of a pair of shapes.

Methods

inlinegetBinormal():Vec3

Returns the binormal vector of the contact manifold. The binormal vector has unit length and is perpendicular to both the normal and the tangent vector.

inlinegetBinormalTo(binormal:Vec3):Void

Sets binormal to the binormal vector of the contact manifold. The binormal vector has unit length and is perpendicular to both the normal and the tangent vector.

This does not create a new instance of Vec3.

inlinegetNormal():Vec3

Returns the normal vector of the contact manifold. The normal vector has unit length and is perpendicular to the contact plane.

inlinegetNormalTo(normal:Vec3):Void

Sets normal to the normal vector of the contact manifold. The normal vector has unit length and is perpendicular to the contact plane.

This does not create a new instance of Vec3.

inlinegetNumPoints():Int

Returns the number of existing manifold points.

inlinegetPoints():Vector<ManifoldPoint>

Returns the manifold point vector of the contact manifold. Note that only the first Manifold.getNumPoints elements of the vector are in use, and the manifold points may be disabled (see ManifoldPoint.isEnabled).

inlinegetTangent():Vec3

Returns the tangent vector of the contact manifold. The tangent vector has unit length and is perpendicular to the normal vector.

inlinegetTangentTo(tangent:Vec3):Void

Sets tangent to the tangent vector of the contact manifold. The tangent vector has unit length and is perpendicular to the normal vector.

This does not create a new instance of Vec3.