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<div class="header">
  <div class="headertitle"><div class="title">EstimateCollisionResponse.h</div></div>
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<div class="contents">
<a href="_estimate_collision_response_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2023 Jorrit Rouwe</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_contact_listener_8h.html">Jolt/Physics/Collision/ContactListener.h</a>&gt;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
<div class="foldopen" id="foldopen00012" data-start="{" data-end="};">
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html">   12</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_collision_estimation_result.html">CollisionEstimationResult</a></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#ac162c5b8c86cd927de472acbe76adae0">   14</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#ac162c5b8c86cd927de472acbe76adae0">mLinearVelocity1</a>;               </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#a2dda95e1b040950e758d2a15b3cc0aef">   15</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#a2dda95e1b040950e758d2a15b3cc0aef">mAngularVelocity1</a>;              </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#a24e229dac9d990dd915e0365c34d0167">   16</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#a24e229dac9d990dd915e0365c34d0167">mLinearVelocity2</a>;               </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#af8db3dcccbc454c945d0bc6e6b21dec6">   17</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#af8db3dcccbc454c945d0bc6e6b21dec6">mAngularVelocity2</a>;              </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#a4bbba50d9d52cc075e49fc3c9f65b7a3">   19</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#a4bbba50d9d52cc075e49fc3c9f65b7a3">mTangent1</a>;                      </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#a48883412273db08fa7bd1d2e1d219ee4">   20</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>            <a class="code hl_variable" href="struct_collision_estimation_result.html#a48883412273db08fa7bd1d2e1d219ee4">mTangent2</a>;                      </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
<div class="foldopen" id="foldopen00022" data-start="{" data-end="};">
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result_1_1_impulse.html">   22</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="struct_collision_estimation_result_1_1_impulse.html">Impulse</a></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    {</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result_1_1_impulse.html#ad672fbc096b11969fc9ef19a0ba5a225">   24</a></span>        <span class="keywordtype">float</span>       <a class="code hl_variable" href="struct_collision_estimation_result_1_1_impulse.html#ad672fbc096b11969fc9ef19a0ba5a225">mContactImpulse</a>;                </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result_1_1_impulse.html#aebeff7b76e005ba545aa77eb670f11e7">   25</a></span>        <span class="keywordtype">float</span>       <a class="code hl_variable" href="struct_collision_estimation_result_1_1_impulse.html#aebeff7b76e005ba545aa77eb670f11e7">mFrictionImpulse1</a>;              </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result_1_1_impulse.html#a2cb7bb86ca170e986cb89a85e5abf354">   26</a></span>        <span class="keywordtype">float</span>       <a class="code hl_variable" href="struct_collision_estimation_result_1_1_impulse.html#a2cb7bb86ca170e986cb89a85e5abf354">mFrictionImpulse2</a>;              </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    };</div>
</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#ae20ee6182689df63b71afc3edb34dbbb">   29</a></span>    <span class="keyword">using </span><a class="code hl_class" href="class_static_array.html">Impulses</a> = <a class="code hl_class" href="class_static_array.html">StaticArray&lt;Impulse, ContactPoints::Capacity&gt;</a>;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="struct_collision_estimation_result.html#a5d4cfce2e09e021aef88daca461111fa">   31</a></span>    <a class="code hl_class" href="class_static_array.html">Impulses</a>        <a class="code hl_variable" href="struct_collision_estimation_result.html#a5d4cfce2e09e021aef88daca461111fa">mImpulses</a>;</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>};</div>
</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <span class="keywordtype">void</span> <a class="code hl_function" href="_estimate_collision_response_8h.html#aca51bbbf4aaefaa7850fd9b0365b031c">EstimateCollisionResponse</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody1, <span class="keyword">const</span> <a class="code hl_class" href="class_body.html">Body</a> &amp;inBody2, <span class="keyword">const</span> <a class="code hl_class" href="class_contact_manifold.html">ContactManifold</a> &amp;inManifold, <a class="code hl_struct" href="struct_collision_estimation_result.html">CollisionEstimationResult</a> &amp;outResult, <span class="keywordtype">float</span> inCombinedFriction, <span class="keywordtype">float</span> inCombinedRestitution, <span class="keywordtype">float</span> inMinVelocityForRestitution = 1.0f, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inNumIterations = 10);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
<div class="ttc" id="a_contact_listener_8h_html"><div class="ttname"><a href="_contact_listener_8h.html">ContactListener.h</a></div></div>
<div class="ttc" id="a_core_8h_html_a2712a9b0f778ab9d1aa5118b4e8e6bd8"><div class="ttname"><a href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a></div><div class="ttdeci">#define JPH_EXPORT</div><div class="ttdef"><b>Definition</b> Core.h:275</div></div>
<div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
<div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
<div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
<div class="ttc" id="a_estimate_collision_response_8h_html_aca51bbbf4aaefaa7850fd9b0365b031c"><div class="ttname"><a href="_estimate_collision_response_8h.html#aca51bbbf4aaefaa7850fd9b0365b031c">EstimateCollisionResponse</a></div><div class="ttdeci">JPH_EXPORT void EstimateCollisionResponse(const Body &amp;inBody1, const Body &amp;inBody2, const ContactManifold &amp;inManifold, CollisionEstimationResult &amp;outResult, float inCombinedFriction, float inCombinedRestitution, float inMinVelocityForRestitution=1.0f, uint inNumIterations=10)</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.cpp:12</div></div>
<div class="ttc" id="aclass_body_html"><div class="ttname"><a href="class_body.html">Body</a></div><div class="ttdef"><b>Definition</b> Body.h:39</div></div>
<div class="ttc" id="aclass_contact_manifold_html"><div class="ttname"><a href="class_contact_manifold.html">ContactManifold</a></div><div class="ttdoc">Manifold class, describes the contact surface between two bodies.</div><div class="ttdef"><b>Definition</b> ContactListener.h:20</div></div>
<div class="ttc" id="aclass_static_array_html"><div class="ttname"><a href="class_static_array.html">StaticArray&lt; Impulse, ContactPoints::Capacity &gt;</a></div></div>
<div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
<div class="ttc" id="astruct_collision_estimation_result_1_1_impulse_html"><div class="ttname"><a href="struct_collision_estimation_result_1_1_impulse.html">CollisionEstimationResult::Impulse</a></div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:23</div></div>
<div class="ttc" id="astruct_collision_estimation_result_1_1_impulse_html_a2cb7bb86ca170e986cb89a85e5abf354"><div class="ttname"><a href="struct_collision_estimation_result_1_1_impulse.html#a2cb7bb86ca170e986cb89a85e5abf354">CollisionEstimationResult::Impulse::mFrictionImpulse2</a></div><div class="ttdeci">float mFrictionImpulse2</div><div class="ttdoc">Estimated friction impulses in the direction of tangent 2 (kg m / s)</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:26</div></div>
<div class="ttc" id="astruct_collision_estimation_result_1_1_impulse_html_ad672fbc096b11969fc9ef19a0ba5a225"><div class="ttname"><a href="struct_collision_estimation_result_1_1_impulse.html#ad672fbc096b11969fc9ef19a0ba5a225">CollisionEstimationResult::Impulse::mContactImpulse</a></div><div class="ttdeci">float mContactImpulse</div><div class="ttdoc">Estimated contact impulses (kg m / s)</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:24</div></div>
<div class="ttc" id="astruct_collision_estimation_result_1_1_impulse_html_aebeff7b76e005ba545aa77eb670f11e7"><div class="ttname"><a href="struct_collision_estimation_result_1_1_impulse.html#aebeff7b76e005ba545aa77eb670f11e7">CollisionEstimationResult::Impulse::mFrictionImpulse1</a></div><div class="ttdeci">float mFrictionImpulse1</div><div class="ttdoc">Estimated friction impulses in the direction of tangent 1 (kg m / s)</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:25</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html"><div class="ttname"><a href="struct_collision_estimation_result.html">CollisionEstimationResult</a></div><div class="ttdoc">A structure that contains the estimated contact and friction impulses and the resulting body velociti...</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:13</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_a24e229dac9d990dd915e0365c34d0167"><div class="ttname"><a href="struct_collision_estimation_result.html#a24e229dac9d990dd915e0365c34d0167">CollisionEstimationResult::mLinearVelocity2</a></div><div class="ttdeci">Vec3 mLinearVelocity2</div><div class="ttdoc">The estimated linear velocity of body 2 after collision.</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:16</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_a2dda95e1b040950e758d2a15b3cc0aef"><div class="ttname"><a href="struct_collision_estimation_result.html#a2dda95e1b040950e758d2a15b3cc0aef">CollisionEstimationResult::mAngularVelocity1</a></div><div class="ttdeci">Vec3 mAngularVelocity1</div><div class="ttdoc">The estimated angular velocity of body 1 after collision.</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:15</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_a48883412273db08fa7bd1d2e1d219ee4"><div class="ttname"><a href="struct_collision_estimation_result.html#a48883412273db08fa7bd1d2e1d219ee4">CollisionEstimationResult::mTangent2</a></div><div class="ttdeci">Vec3 mTangent2</div><div class="ttdoc">Second normalized tangent of contact normal (forms a basis with mTangent1 and mWorldSpaceNormal)</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:20</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_a4bbba50d9d52cc075e49fc3c9f65b7a3"><div class="ttname"><a href="struct_collision_estimation_result.html#a4bbba50d9d52cc075e49fc3c9f65b7a3">CollisionEstimationResult::mTangent1</a></div><div class="ttdeci">Vec3 mTangent1</div><div class="ttdoc">Normalized tangent of contact normal.</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:19</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_a5d4cfce2e09e021aef88daca461111fa"><div class="ttname"><a href="struct_collision_estimation_result.html#a5d4cfce2e09e021aef88daca461111fa">CollisionEstimationResult::mImpulses</a></div><div class="ttdeci">Impulses mImpulses</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:31</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_ac162c5b8c86cd927de472acbe76adae0"><div class="ttname"><a href="struct_collision_estimation_result.html#ac162c5b8c86cd927de472acbe76adae0">CollisionEstimationResult::mLinearVelocity1</a></div><div class="ttdeci">Vec3 mLinearVelocity1</div><div class="ttdoc">The estimated linear velocity of body 1 after collision.</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:14</div></div>
<div class="ttc" id="astruct_collision_estimation_result_html_af8db3dcccbc454c945d0bc6e6b21dec6"><div class="ttname"><a href="struct_collision_estimation_result.html#af8db3dcccbc454c945d0bc6e6b21dec6">CollisionEstimationResult::mAngularVelocity2</a></div><div class="ttdeci">Vec3 mAngularVelocity2</div><div class="ttdoc">The estimated angular velocity of body 2 after collision.</div><div class="ttdef"><b>Definition</b> EstimateCollisionResponse.h:17</div></div>
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