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<title>Open Dynamics Engine: dContactGeom Struct Reference</title>
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<h1>dContactGeom Struct Reference<br>
<small>
[<a class="el" href="group__collide.html">Collision Detection</a>]</small>
</h1><!-- doxytag: class="dContactGeom" -->Describe the contact point between two geoms.
<a href="#_details">More...</a>
<p>
<code>#include <<a class="el" href="contact_8h-source.html">contact.h</a>></code>
<p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Data Fields</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2fa7323ee3826d1f55c8cad6157e38a5"></a><!-- doxytag: member="dContactGeom::pos" ref="2fa7323ee3826d1f55c8cad6157e38a5" args="" -->
dVector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#2fa7323ee3826d1f55c8cad6157e38a5">pos</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">contact position <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7665d3379904821bbdb7b7d1028fcda3"></a><!-- doxytag: member="dContactGeom::normal" ref="7665d3379904821bbdb7b7d1028fcda3" args="" -->
dVector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7665d3379904821bbdb7b7d1028fcda3">normal</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">normal vector <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="29c32c1cb4355186d4110b7abeb58bf0"></a><!-- doxytag: member="dContactGeom::depth" ref="29c32c1cb4355186d4110b7abeb58bf0" args="" -->
dReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#29c32c1cb4355186d4110b7abeb58bf0">depth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">penetration depth <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6049a3a67dba58f65a6ce15a4d9b4cfd"></a><!-- doxytag: member="dContactGeom::g1" ref="6049a3a67dba58f65a6ce15a4d9b4cfd" args="" -->
dGeomID </td><td class="memItemRight" valign="bottom"><b>g1</b></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7dd16e7bbc0c5b5e17116c1e5179281b"></a><!-- doxytag: member="dContactGeom::g2" ref="7dd16e7bbc0c5b5e17116c1e5179281b" args="" -->
dGeomID </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7dd16e7bbc0c5b5e17116c1e5179281b">g2</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the colliding geoms <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="10bb8b02cd842d19240e3b643469fb33"></a><!-- doxytag: member="dContactGeom::side1" ref="10bb8b02cd842d19240e3b643469fb33" args="" -->
int </td><td class="memItemRight" valign="bottom"><b>side1</b></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7a8a080b98c12e0d1f52c86d2738552e"></a><!-- doxytag: member="dContactGeom::side2" ref="7a8a080b98c12e0d1f52c86d2738552e" args="" -->
int </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7a8a080b98c12e0d1f52c86d2738552e">side2</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(to be documented) <br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
Describe the contact point between two geoms.
<p>
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 <a class="el" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a>.<p>
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. <hr>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="contact_8h-source.html">contact.h</a></ul>
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