mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add methods to get the friction vectors of the contact

Browse Source
This commit is contained in:
Daniel Chappuis 2012-12-26 02:18:51 +01:00
parent e64cac4571
commit 158c19541b
1 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/constraint/Contact.h
View File

@ -135,6 +135,12 @@ class Contact : public Constraint {
// Set the contact world point on body 2
void setWorldPointOnBody2(const Vector3& worldPoint);
// Get the first friction vector
Vector3 getFrictionVector1() const;
// Get the second friction vector
Vector3 getFrictionVector2() const;
// Compute the jacobian matrix for all mathematical constraints
virtual void computeJacobian(int noConstraint,
decimal J_SP[NB_MAX_CONSTRAINTS][2*6]) const;
@ -229,6 +235,16 @@ inline void Contact::setWorldPointOnBody2(const Vector3& worldPoint) {
mWorldPointOnBody2 = worldPoint;
}
// Get the first friction vector
inline Vector3 Contact::getFrictionVector1() const {
return mFrictionVectors[0];
}
// Get the second friction vector
inline Vector3 Contact::getFrictionVector2() const {
return mFrictionVectors[1];
}
// Return the penetration depth of the contact
inline decimal Contact::getPenetrationDepth() const {
return mPenetrationDepth;