reactphysics3d/sources/collision/ContactInfo.h

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010 Daniel Chappuis                                            *
*********************************************************************************
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#ifndef CONTACTINFO_H
#define	CONTACTINFO_H

// Libraries
#include "../body/OBB.h"
#include "../mathematics/mathematics.h"

// ReactPhysics3D namespace
namespace reactphysics3d {

/*  -------------------------------------------------------------------
    Structure ContactInfo :
       This structure contains informations about a collision contact
       computed durring the narow phase collision detection. Those
       informations are use to compute the contact set for a contact
       between two bodies.
    -------------------------------------------------------------------
*/
struct ContactInfo {
    public:
        // TODO : Use polymorphism here (change OBB into BoundingVolume to be more general)
        const OBB* const obb1;                   // Body pointer of the first bounding volume
        const OBB* const obb2;                   // Body pointer of the second bounding volume
        const Vector3D normal;                   // Normal vector the the collision contact
        const double penetrationDepth;           // Penetration depth of the contact
        
        ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth);                                                                // Constructor
};

} // End of the ReactPhysics3D namespace

#endif