dContactGeom Struct Reference
[Collision Detection]

Describe the contact point between two geoms. More...

#include <contact.h>

Data Fields
dVector3	pos
	contact position
dVector3	normal
	normal vector
dReal	depth
	penetration depth
dGeomID	g1
dGeomID	g2
	the colliding geoms
int	side1
int	side2
	(to be documented)

---

Detailed Description

Describe the contact point between two geoms.

If two bodies touch, or if a body touches a static feature in its environment, the contact is represented by one or more "contact points", described by dContactGeom.

The convention is that if body 1 is moved along the normal vector by a distance depth (or equivalently if body 2 is moved the same distance in the opposite direction) then the contact depth will be reduced to zero. This means that the normal vector points "in" to body 1.

---

The documentation for this struct was generated from the following file:

• contact.h

---