View source

class ManifoldPoint

package oimo.dynamics.constraint.contact

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

A manifold point is a contact point in a contact manifold. This holds detailed collision data (position, overlap depth, impulse, etc...) for collision response.

Methods

inlinegetBinormalImpulse():Float

Returns the binormal impulse of the manifold point.

inlinegetDepth():Float

Returns the amount of the overlap. If the manifold point is separate, a negative value is returned.

inlinegetNormalImpulse():Float

Returns the normal impulse of the manifold point.

inlinegetPosition1():Vec3

Returns the first rigid body's manifold point in world coordinate.

inlinegetPosition1To(position:Vec3):Void

Sets position to the first rigid body's manifold point in world coordinate. This does not create a new instance of Vec3.

inlinegetPosition2():Vec3

Returns the second rigid body's manifold point in world coordinate.

inlinegetPosition2To(position:Vec3):Void

Sets position to the second rigid body's manifold point in world coordinate. This does not create a new instance of Vec3.

inlinegetTangentImpulse():Float

Returns the tangent impulse of the manifold point.

inlineisEnabled():Bool

Returns whether the manifold point is enabled.

inlineisWarmStarted():Bool

Returns whether the manifold point has existed for more than two steps.