Bullet Collision Detection & Physics Library: btManifoldPoint Class Reference

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btManifoldPoint Class Reference

ManifoldContactPoint collects and maintains persistent contactpoints. More...

`#include <btManifoldPoint.h>`

Collaboration diagram for btManifoldPoint:
[legend]

## Public Member Functions
| btManifoldPoint ()
| btManifoldPoint (const btVector3 &pointA, const btVector3 &pointB, const btVector3 &normal, btScalar distance)
btScalar | getDistance () const
int | getLifeTime () const
const btVector3 & | getPositionWorldOnA () const
const btVector3 & | getPositionWorldOnB () const
void | setDistance (btScalar dist)
btScalar | getAppliedImpulse () const
| this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver More...

## Public Attributes
btVector3 | m_localPointA
btVector3 | m_localPointB
btVector3 | m_positionWorldOnB
btVector3 | m_positionWorldOnA
| m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity More...
btVector3 | m_normalWorldOnB
btScalar | m_distance1
btScalar | m_combinedFriction
btScalar | m_combinedRollingFriction
btScalar | m_combinedRestitution
int | m_partId0
int | m_partId1
int | m_index0
int | m_index1
void * | m_userPersistentData
bool | m_lateralFrictionInitialized
btScalar | m_appliedImpulse
btScalar | m_appliedImpulseLateral1
btScalar | m_appliedImpulseLateral2
btScalar | m_contactMotion1
btScalar | m_contactMotion2
btScalar | m_contactCFM1
btScalar | m_contactCFM2
int | m_lifeTime
btVector3 | m_lateralFrictionDir1
btVector3 | m_lateralFrictionDir2

## Detailed Description

ManifoldContactPoint collects and maintains persistent contactpoints.

used to improve stability and performance of rigidbody dynamics response.

Definition at line 42 of file btManifoldPoint.h.

## Constructor & Destructor Documentation

btManifoldPoint::btManifoldPoint | ( |  | ) |
| inline

Definition at line 45 of file btManifoldPoint.h.

btManifoldPoint::btManifoldPoint | ( | const btVector3 & | pointA,
|  | const btVector3 & | pointB,
|  | const btVector3 & | normal,
|  | btScalar | distance
| ) |  |
| inline

Definition at line 59 of file btManifoldPoint.h.

## Member Function Documentation

btScalar btManifoldPoint::getAppliedImpulse | ( |  | ) | const
| inline

this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver

Definition at line 147 of file btManifoldPoint.h.

btScalar btManifoldPoint::getDistance | ( |  | ) | const
| inline

Definition at line 122 of file btManifoldPoint.h.

int btManifoldPoint::getLifeTime | ( |  | ) | const
| inline

Definition at line 126 of file btManifoldPoint.h.

const btVector3& btManifoldPoint::getPositionWorldOnA | ( |  | ) | const
| inline

Definition at line 131 of file btManifoldPoint.h.

const btVector3& btManifoldPoint::getPositionWorldOnB | ( |  | ) | const
| inline

Definition at line 136 of file btManifoldPoint.h.

void btManifoldPoint::setDistance | ( | btScalar | dist | ) |
| inline

Definition at line 141 of file btManifoldPoint.h.

## Member Data Documentation

btScalar btManifoldPoint::m_appliedImpulse

Definition at line 106 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_appliedImpulseLateral1

Definition at line 107 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_appliedImpulseLateral2

Definition at line 108 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedFriction

Definition at line 93 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedRestitution

Definition at line 95 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_combinedRollingFriction

Definition at line 94 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactCFM1

Definition at line 111 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactCFM2

Definition at line 112 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactMotion1

Definition at line 109 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_contactMotion2

Definition at line 110 of file btManifoldPoint.h.

btScalar btManifoldPoint::m_distance1

Definition at line 92 of file btManifoldPoint.h.

int btManifoldPoint::m_index0

Definition at line 100 of file btManifoldPoint.h.

int btManifoldPoint::m_index1

Definition at line 101 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_lateralFrictionDir1

Definition at line 116 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_lateralFrictionDir2

Definition at line 117 of file btManifoldPoint.h.

bool btManifoldPoint::m_lateralFrictionInitialized

Definition at line 104 of file btManifoldPoint.h.

int btManifoldPoint::m_lifeTime

Definition at line 114 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_localPointA

Definition at line 85 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_localPointB

Definition at line 86 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_normalWorldOnB

Definition at line 90 of file btManifoldPoint.h.

int btManifoldPoint::m_partId0

Definition at line 98 of file btManifoldPoint.h.

int btManifoldPoint::m_partId1

Definition at line 99 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_positionWorldOnA

m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity

Definition at line 89 of file btManifoldPoint.h.

btVector3 btManifoldPoint::m_positionWorldOnB

Definition at line 87 of file btManifoldPoint.h.

void* btManifoldPoint::m_userPersistentData
| mutable

Definition at line 103 of file btManifoldPoint.h.

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

- btManifoldPoint.h