71 lines
5.2 KiB
HTML
71 lines
5.2 KiB
HTML
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
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<title>Open Dynamics Engine: dContactGeom Struct Reference</title>
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<!-- Generated by Doxygen 1.5.3 -->
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<li><a href="index.html"><span>Main Page</span></a></li>
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<li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
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<li><a href="functions.html"><span>Data Fields</span></a></li>
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<h1>dContactGeom Struct Reference<br>
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<small>
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[<a class="el" href="group__collide.html">Collision Detection</a>]</small>
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</h1><!-- doxytag: class="dContactGeom" -->Describe the contact point between two geoms.
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<a href="#_details">More...</a>
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<p>
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<code>#include <<a class="el" href="contact_8h-source.html">contact.h</a>></code>
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<p>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Data Fields</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2fa7323ee3826d1f55c8cad6157e38a5"></a><!-- doxytag: member="dContactGeom::pos" ref="2fa7323ee3826d1f55c8cad6157e38a5" args="" -->
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dVector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#2fa7323ee3826d1f55c8cad6157e38a5">pos</a></td></tr>
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<tr><td class="mdescLeft"> </td><td class="mdescRight">contact position <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7665d3379904821bbdb7b7d1028fcda3"></a><!-- doxytag: member="dContactGeom::normal" ref="7665d3379904821bbdb7b7d1028fcda3" args="" -->
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dVector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7665d3379904821bbdb7b7d1028fcda3">normal</a></td></tr>
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<tr><td class="mdescLeft"> </td><td class="mdescRight">normal vector <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="29c32c1cb4355186d4110b7abeb58bf0"></a><!-- doxytag: member="dContactGeom::depth" ref="29c32c1cb4355186d4110b7abeb58bf0" args="" -->
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dReal </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#29c32c1cb4355186d4110b7abeb58bf0">depth</a></td></tr>
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<tr><td class="mdescLeft"> </td><td class="mdescRight">penetration depth <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6049a3a67dba58f65a6ce15a4d9b4cfd"></a><!-- doxytag: member="dContactGeom::g1" ref="6049a3a67dba58f65a6ce15a4d9b4cfd" args="" -->
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dGeomID </td><td class="memItemRight" valign="bottom"><b>g1</b></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7dd16e7bbc0c5b5e17116c1e5179281b"></a><!-- doxytag: member="dContactGeom::g2" ref="7dd16e7bbc0c5b5e17116c1e5179281b" args="" -->
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dGeomID </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7dd16e7bbc0c5b5e17116c1e5179281b">g2</a></td></tr>
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<tr><td class="mdescLeft"> </td><td class="mdescRight">the colliding geoms <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="10bb8b02cd842d19240e3b643469fb33"></a><!-- doxytag: member="dContactGeom::side1" ref="10bb8b02cd842d19240e3b643469fb33" args="" -->
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int </td><td class="memItemRight" valign="bottom"><b>side1</b></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7a8a080b98c12e0d1f52c86d2738552e"></a><!-- doxytag: member="dContactGeom::side2" ref="7a8a080b98c12e0d1f52c86d2738552e" args="" -->
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int </td><td class="memItemRight" valign="bottom"><a class="el" href="structd_contact_geom.html#7a8a080b98c12e0d1f52c86d2738552e">side2</a></td></tr>
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<tr><td class="mdescLeft"> </td><td class="mdescRight">(to be documented) <br></td></tr>
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2>
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Describe the contact point between two geoms.
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<p>
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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>
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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>
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<li><a class="el" href="contact_8h-source.html">contact.h</a></ul>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:52 2007 for Open Dynamics Engine by
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
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