Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | List of all members
btManifoldPoint Class Reference

ManifoldContactPoint collects and maintains persistent contactpoints. More...

#include <btManifoldPoint.h>

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Public Member Functions

 btManifoldPoint ()
 
 btManifoldPoint (const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
 
btScalar getDistance () const
 
int getLifeTime () const
 
const btVector3getPositionWorldOnA () const
 
const btVector3getPositionWorldOnB () const
 
void setDistance (btScalar dist)
 
btScalar getAppliedImpulse () const
 this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver More...
 

Public Attributes

btVector3 m_localPointA
 
btVector3 m_localPointB
 
btVector3 m_positionWorldOnB
 
btVector3 m_positionWorldOnA
 m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity More...
 
btVector3 m_normalWorldOnB
 
btScalar m_distance1
 
btScalar m_combinedFriction
 
btScalar m_combinedRollingFriction
 
btScalar m_combinedSpinningFriction
 
btScalar m_combinedRestitution
 
int m_partId0
 
int m_partId1
 
int m_index0
 
int m_index1
 
void * m_userPersistentData
 
int m_contactPointFlags
 
btScalar m_appliedImpulse
 
btScalar m_appliedImpulseLateral1
 
btScalar m_appliedImpulseLateral2
 
btScalar m_contactMotion1
 
btScalar m_contactMotion2
 
union {
   btScalar   m_contactCFM
 
   btScalar   m_combinedContactStiffness1
 
}; 
 
union {
   btScalar   m_contactERP
 
   btScalar   m_combinedContactDamping1
 
}; 
 
btScalar m_frictionCFM
 
int m_lifeTime
 
btVector3 m_lateralFrictionDir1
 
btVector3 m_lateralFrictionDir2
 

Detailed Description

ManifoldContactPoint collects and maintains persistent contactpoints.

used to improve stability and performance of rigidbody dynamics response.

Definition at line 49 of file btManifoldPoint.h.

Constructor & Destructor Documentation

◆ btManifoldPoint() [1/2]

btManifoldPoint::btManifoldPoint ( )
inline

Definition at line 52 of file btManifoldPoint.h.

◆ btManifoldPoint() [2/2]

btManifoldPoint::btManifoldPoint ( const btVector3 pointA,
const btVector3 pointB,
const btVector3 normal,
btScalar  distance 
)
inline

Definition at line 67 of file btManifoldPoint.h.

Member Function Documentation

◆ getAppliedImpulse()

btScalar btManifoldPoint::getAppliedImpulse ( ) const
inline

this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver

Definition at line 171 of file btManifoldPoint.h.

◆ getDistance()

btScalar btManifoldPoint::getDistance ( ) const
inline

Definition at line 146 of file btManifoldPoint.h.

◆ getLifeTime()

int btManifoldPoint::getLifeTime ( ) const
inline

Definition at line 150 of file btManifoldPoint.h.

◆ getPositionWorldOnA()

const btVector3& btManifoldPoint::getPositionWorldOnA ( ) const
inline

Definition at line 155 of file btManifoldPoint.h.

◆ getPositionWorldOnB()

const btVector3& btManifoldPoint::getPositionWorldOnB ( ) const
inline

Definition at line 160 of file btManifoldPoint.h.

◆ setDistance()

void btManifoldPoint::setDistance ( btScalar  dist)
inline

Definition at line 165 of file btManifoldPoint.h.

Member Data Documentation

◆ @17

union { ... }

◆ @19

union { ... }

◆ m_appliedImpulse

btScalar btManifoldPoint::m_appliedImpulse

Definition at line 118 of file btManifoldPoint.h.

◆ m_appliedImpulseLateral1

btScalar btManifoldPoint::m_appliedImpulseLateral1

Definition at line 119 of file btManifoldPoint.h.

◆ m_appliedImpulseLateral2

btScalar btManifoldPoint::m_appliedImpulseLateral2

Definition at line 120 of file btManifoldPoint.h.

◆ m_combinedContactDamping1

btScalar btManifoldPoint::m_combinedContactDamping1

Definition at line 133 of file btManifoldPoint.h.

◆ m_combinedContactStiffness1

btScalar btManifoldPoint::m_combinedContactStiffness1

Definition at line 127 of file btManifoldPoint.h.

◆ m_combinedFriction

btScalar btManifoldPoint::m_combinedFriction

Definition at line 103 of file btManifoldPoint.h.

◆ m_combinedRestitution

btScalar btManifoldPoint::m_combinedRestitution

Definition at line 106 of file btManifoldPoint.h.

◆ m_combinedRollingFriction

btScalar btManifoldPoint::m_combinedRollingFriction

Definition at line 104 of file btManifoldPoint.h.

◆ m_combinedSpinningFriction

btScalar btManifoldPoint::m_combinedSpinningFriction

Definition at line 105 of file btManifoldPoint.h.

◆ m_contactCFM

btScalar btManifoldPoint::m_contactCFM

Definition at line 126 of file btManifoldPoint.h.

◆ m_contactERP

btScalar btManifoldPoint::m_contactERP

Definition at line 132 of file btManifoldPoint.h.

◆ m_contactMotion1

btScalar btManifoldPoint::m_contactMotion1

Definition at line 121 of file btManifoldPoint.h.

◆ m_contactMotion2

btScalar btManifoldPoint::m_contactMotion2

Definition at line 122 of file btManifoldPoint.h.

◆ m_contactPointFlags

int btManifoldPoint::m_contactPointFlags

Definition at line 116 of file btManifoldPoint.h.

◆ m_distance1

btScalar btManifoldPoint::m_distance1

Definition at line 102 of file btManifoldPoint.h.

◆ m_frictionCFM

btScalar btManifoldPoint::m_frictionCFM

Definition at line 136 of file btManifoldPoint.h.

◆ m_index0

int btManifoldPoint::m_index0

Definition at line 111 of file btManifoldPoint.h.

◆ m_index1

int btManifoldPoint::m_index1

Definition at line 112 of file btManifoldPoint.h.

◆ m_lateralFrictionDir1

btVector3 btManifoldPoint::m_lateralFrictionDir1

Definition at line 140 of file btManifoldPoint.h.

◆ m_lateralFrictionDir2

btVector3 btManifoldPoint::m_lateralFrictionDir2

Definition at line 141 of file btManifoldPoint.h.

◆ m_lifeTime

int btManifoldPoint::m_lifeTime

Definition at line 138 of file btManifoldPoint.h.

◆ m_localPointA

btVector3 btManifoldPoint::m_localPointA

Definition at line 95 of file btManifoldPoint.h.

◆ m_localPointB

btVector3 btManifoldPoint::m_localPointB

Definition at line 96 of file btManifoldPoint.h.

◆ m_normalWorldOnB

btVector3 btManifoldPoint::m_normalWorldOnB

Definition at line 100 of file btManifoldPoint.h.

◆ m_partId0

int btManifoldPoint::m_partId0

Definition at line 109 of file btManifoldPoint.h.

◆ m_partId1

int btManifoldPoint::m_partId1

Definition at line 110 of file btManifoldPoint.h.

◆ m_positionWorldOnA

btVector3 btManifoldPoint::m_positionWorldOnA

m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity

Definition at line 99 of file btManifoldPoint.h.

◆ m_positionWorldOnB

btVector3 btManifoldPoint::m_positionWorldOnB

Definition at line 97 of file btManifoldPoint.h.

◆ m_userPersistentData

void* btManifoldPoint::m_userPersistentData
mutable

Definition at line 114 of file btManifoldPoint.h.


The documentation for this class was generated from the following file: