91 lines
3.7 KiB
C++
91 lines
3.7 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_CONTACT_POINT_INFO_H
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#define REACTPHYSICS3D_CONTACT_POINT_INFO_H
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// Libraries
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#include "body/CollisionBody.h"
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#include "mathematics/mathematics.h"
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#include "configuration.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Structure ContactPointInfo
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/**
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* This structure contains informations about a collision contact
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* computed during the narrow-phase collision detection. Those
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* informations are used to compute the contact set for a contact
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* between two bodies.
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*/
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struct ContactPointInfo {
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private:
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// -------------------- Methods -------------------- //
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public:
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// -------------------- Attributes -------------------- //
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/// Normalized normal vector of the collision contact in world space
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Vector3 normal;
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/// Penetration depth of the contact
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decimal penetrationDepth;
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/// Contact point of body 1 in local space of body 1
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Vector3 localPoint1;
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/// Contact point of body 2 in local space of body 2
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Vector3 localPoint2;
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/// Pointer to the next contact point info
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ContactPointInfo* next;
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/// True if the contact point has already been inserted into a manifold
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bool isUsed;
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// -------------------- Methods -------------------- //
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/// Constructor
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ContactPointInfo(const Vector3& contactNormal, decimal penDepth,
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const Vector3& localPt1, const Vector3& localPt2)
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: normal(contactNormal), penetrationDepth(penDepth),
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localPoint1(localPt1), localPoint2(localPt2), next(nullptr), isUsed(false) {
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assert(contactNormal.lengthSquare() > decimal(0.8));
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assert(penDepth > decimal(0.0));
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}
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/// Destructor
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~ContactPointInfo() = default;
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};
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}
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#endif
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