87 lines
3.6 KiB
C++
87 lines
3.6 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2020 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
* that you wrote the original software. If you use this software in a *
|
|
* product, an acknowledgment in the product documentation would be *
|
|
* appreciated but is not required. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
#ifndef REACTPHYSICS3D_CONTACT_POINT_INFO_H
|
|
#define REACTPHYSICS3D_CONTACT_POINT_INFO_H
|
|
|
|
// Libraries
|
|
#include <reactphysics3d/mathematics/mathematics.h>
|
|
#include <reactphysics3d/configuration.h>
|
|
|
|
/// ReactPhysics3D namespace
|
|
namespace reactphysics3d {
|
|
|
|
// Declarations
|
|
class CollisionBody;
|
|
|
|
// Structure ContactPointInfo
|
|
/**
|
|
* This structure contains informations about a collision contact
|
|
* computed during the narrow-phase collision detection. Those
|
|
* informations are used to compute the contact set for a contact
|
|
* between two bodies.
|
|
*/
|
|
struct ContactPointInfo {
|
|
|
|
private:
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
public:
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
/// Normalized normal vector of the collision contact in world space
|
|
Vector3 normal;
|
|
|
|
/// Penetration depth of the contact
|
|
decimal penetrationDepth;
|
|
|
|
/// Contact point of body 1 in local space of body 1
|
|
Vector3 localPoint1;
|
|
|
|
/// Contact point of body 2 in local space of body 2
|
|
Vector3 localPoint2;
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
ContactPointInfo(const Vector3& contactNormal, decimal penDepth,
|
|
const Vector3& localPt1, const Vector3& localPt2)
|
|
: normal(contactNormal), penetrationDepth(penDepth),
|
|
localPoint1(localPt1), localPoint2(localPt2) {
|
|
|
|
assert(contactNormal.lengthSquare() > decimal(0.8));
|
|
assert(penDepth > decimal(0.0));
|
|
}
|
|
|
|
/// Destructor
|
|
~ContactPointInfo() = default;
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|