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>

Collaboration diagram for btManifoldPoint:
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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 btVector3 & getPositionWorldOnA () const
 
const btVector3 & getPositionWorldOnB () const
 
void setDistance (btScalar dist)
 
btScalar getAppliedImpulse () const
 this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
 

Public Attributes

btVector3 m_localPointA
 
btVector3 m_localPointB
 
btVector3 m_positionWorldOnB
 
btVector3 m_positionWorldOnA
 m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
 
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_prevRHS
 
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 51 of file btManifoldPoint.h.

Constructor & Destructor Documentation

◆ btManifoldPoint() [1/2]

btManifoldPoint::btManifoldPoint ( )
inline

Definition at line 54 of file btManifoldPoint.h.

◆ btManifoldPoint() [2/2]

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

Definition at line 70 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 176 of file btManifoldPoint.h.

◆ getDistance()

btScalar btManifoldPoint::getDistance ( ) const
inline

Definition at line 150 of file btManifoldPoint.h.

◆ getLifeTime()

int btManifoldPoint::getLifeTime ( ) const
inline

Definition at line 154 of file btManifoldPoint.h.

◆ getPositionWorldOnA()

const btVector3 & btManifoldPoint::getPositionWorldOnA ( ) const
inline

Definition at line 159 of file btManifoldPoint.h.

◆ getPositionWorldOnB()

const btVector3 & btManifoldPoint::getPositionWorldOnB ( ) const
inline

Definition at line 165 of file btManifoldPoint.h.

◆ setDistance()

void btManifoldPoint::setDistance ( btScalar  dist)
inline

Definition at line 170 of file btManifoldPoint.h.

Member Data Documentation

◆ [union]

union { ... } btManifoldPoint

◆ [union]

union { ... } btManifoldPoint

◆ m_appliedImpulse

btScalar btManifoldPoint::m_appliedImpulse

Definition at line 126 of file btManifoldPoint.h.

◆ m_appliedImpulseLateral1

btScalar btManifoldPoint::m_appliedImpulseLateral1

Definition at line 128 of file btManifoldPoint.h.

◆ m_appliedImpulseLateral2

btScalar btManifoldPoint::m_appliedImpulseLateral2

Definition at line 129 of file btManifoldPoint.h.

◆ m_combinedContactDamping1

btScalar btManifoldPoint::m_combinedContactDamping1

Definition at line 140 of file btManifoldPoint.h.

◆ m_combinedContactStiffness1

btScalar btManifoldPoint::m_combinedContactStiffness1

Definition at line 135 of file btManifoldPoint.h.

◆ m_combinedFriction

btScalar btManifoldPoint::m_combinedFriction

Definition at line 111 of file btManifoldPoint.h.

◆ m_combinedRestitution

btScalar btManifoldPoint::m_combinedRestitution

Definition at line 114 of file btManifoldPoint.h.

◆ m_combinedRollingFriction

btScalar btManifoldPoint::m_combinedRollingFriction

Definition at line 112 of file btManifoldPoint.h.

◆ m_combinedSpinningFriction

btScalar btManifoldPoint::m_combinedSpinningFriction

Definition at line 113 of file btManifoldPoint.h.

◆ m_contactCFM

btScalar btManifoldPoint::m_contactCFM

Definition at line 134 of file btManifoldPoint.h.

◆ m_contactERP

btScalar btManifoldPoint::m_contactERP

Definition at line 139 of file btManifoldPoint.h.

◆ m_contactMotion1

btScalar btManifoldPoint::m_contactMotion1

Definition at line 130 of file btManifoldPoint.h.

◆ m_contactMotion2

btScalar btManifoldPoint::m_contactMotion2

Definition at line 131 of file btManifoldPoint.h.

◆ m_contactPointFlags

int btManifoldPoint::m_contactPointFlags

Definition at line 124 of file btManifoldPoint.h.

◆ m_distance1

btScalar btManifoldPoint::m_distance1

Definition at line 110 of file btManifoldPoint.h.

◆ m_frictionCFM

btScalar btManifoldPoint::m_frictionCFM

Definition at line 143 of file btManifoldPoint.h.

◆ m_index0

int btManifoldPoint::m_index0

Definition at line 119 of file btManifoldPoint.h.

◆ m_index1

int btManifoldPoint::m_index1

Definition at line 120 of file btManifoldPoint.h.

◆ m_lateralFrictionDir1

btVector3 btManifoldPoint::m_lateralFrictionDir1

Definition at line 147 of file btManifoldPoint.h.

◆ m_lateralFrictionDir2

btVector3 btManifoldPoint::m_lateralFrictionDir2

Definition at line 148 of file btManifoldPoint.h.

◆ m_lifeTime

int btManifoldPoint::m_lifeTime

Definition at line 145 of file btManifoldPoint.h.

◆ m_localPointA

btVector3 btManifoldPoint::m_localPointA

Definition at line 103 of file btManifoldPoint.h.

◆ m_localPointB

btVector3 btManifoldPoint::m_localPointB

Definition at line 104 of file btManifoldPoint.h.

◆ m_normalWorldOnB

btVector3 btManifoldPoint::m_normalWorldOnB

Definition at line 108 of file btManifoldPoint.h.

◆ m_partId0

int btManifoldPoint::m_partId0

Definition at line 117 of file btManifoldPoint.h.

◆ m_partId1

int btManifoldPoint::m_partId1

Definition at line 118 of file btManifoldPoint.h.

◆ m_positionWorldOnA

btVector3 btManifoldPoint::m_positionWorldOnA

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

Definition at line 107 of file btManifoldPoint.h.

◆ m_positionWorldOnB

btVector3 btManifoldPoint::m_positionWorldOnB

Definition at line 105 of file btManifoldPoint.h.

◆ m_prevRHS

btScalar btManifoldPoint::m_prevRHS

Definition at line 127 of file btManifoldPoint.h.

◆ m_userPersistentData

void* btManifoldPoint::m_userPersistentData
mutable

Definition at line 122 of file btManifoldPoint.h.

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