oimo.dynamics.constraint.contact

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.

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

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