Struct physics_contact

• Defined in File physics_contact.hpp

Struct Documentation

struct legion::physics::physics_contact

Public Functions

inline void ApplyWarmStarting()

inline void resolveContactConstraint(float dt, int i)

inline void resolveFrictionConstraint()

inline void preCalculateEffectiveMass()

inline float calculateJVConstraint(const math::vec3 &normal)

inline float calculateEffectiveMassOnNormal(math::vec3 &normal)

inline void ApplyImpulse(const math::vec3 &normal, const float lambda, const math::vec3 &ra, const math::vec3 &rb)

inline void calculateJacobianComponents(const math::vec3 normal, math::vec3 &Ra, math::vec3 &minRaCrossN, math::vec3 &Rb, math::vec3 &RbCrossN)

inline void logRigidbodyState()

Public Members

PhysicsCollider *refCollider

EdgeLabel label

rigidbody *rbRef

rigidbody *rbInc

math::vec3 RefWorldContact

math::vec3 IncWorldContact

math::vec3 refRBCentroid

math::vec3 incRBCentroid

math::mat4 refTransform

math::mat4 incTransform

math::vec3 collisionNormal

math::vec3 tangentNormal1

math::vec3 tangentNormal2

float totalLambda = 0.0f

float tangent1Lambda = 0.0f

float tangent2Lambda = 0.0f

float effectiveMass = 0.0f

float tangent1EffectiveMass = 0.0f

float tangent2EffectiveMass = 0.0f

int contactCount = 0