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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="class_contact_manifold-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">ContactManifold Class Reference</div></div>
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<p>Manifold class, describes the contact surface between two bodies.  
 <a href="#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_contact_listener_8h_source.html">ContactListener.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a48787ecfb82e124dfa8cd1de71ed8027" id="r_a48787ecfb82e124dfa8cd1de71ed8027"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_contact_manifold.html">ContactManifold</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a48787ecfb82e124dfa8cd1de71ed8027">SwapShapes</a> () const</td></tr>
<tr class="memdesc:a48787ecfb82e124dfa8cd1de71ed8027"><td class="mdescLeft">&#160;</td><td class="mdescRight">Swaps shape 1 and 2.  <br /></td></tr>
<tr class="separator:a48787ecfb82e124dfa8cd1de71ed8027"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1112cfe6df7934c56e585d5985d2870a" id="r_a1112cfe6df7934c56e585d5985d2870a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a1112cfe6df7934c56e585d5985d2870a">GetWorldSpaceContactPointOn1</a> (<a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inIndex) const</td></tr>
<tr class="memdesc:a1112cfe6df7934c56e585d5985d2870a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Access to the world space contact positions.  <br /></td></tr>
<tr class="separator:a1112cfe6df7934c56e585d5985d2870a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28d3d860f9bb992c0c581b7a68df6681" id="r_a28d3d860f9bb992c0c581b7a68df6681"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a28d3d860f9bb992c0c581b7a68df6681">GetWorldSpaceContactPointOn2</a> (<a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inIndex) const</td></tr>
<tr class="separator:a28d3d860f9bb992c0c581b7a68df6681"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a7411bc12e55f88b3e2855fe8dc57a05e" id="r_a7411bc12e55f88b3e2855fe8dc57a05e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7411bc12e55f88b3e2855fe8dc57a05e">mBaseOffset</a></td></tr>
<tr class="memdesc:a7411bc12e55f88b3e2855fe8dc57a05e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Offset to which all the contact points are relative.  <br /></td></tr>
<tr class="separator:a7411bc12e55f88b3e2855fe8dc57a05e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab90dc956aa8b9936495992212fa64487" id="r_ab90dc956aa8b9936495992212fa64487"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab90dc956aa8b9936495992212fa64487">mWorldSpaceNormal</a></td></tr>
<tr class="memdesc:ab90dc956aa8b9936495992212fa64487"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normal for this manifold, direction along which to move body 2 out of collision along the shortest path.  <br /></td></tr>
<tr class="separator:ab90dc956aa8b9936495992212fa64487"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add2819f7131894b379fd2c6f4b90099a" id="r_add2819f7131894b379fd2c6f4b90099a"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#add2819f7131894b379fd2c6f4b90099a">mPenetrationDepth</a></td></tr>
<tr class="memdesc:add2819f7131894b379fd2c6f4b90099a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Penetration depth (move shape 2 by this distance to resolve the collision). If this value is negative, this is a speculative contact point and may not actually result in a velocity change as during solving the bodies may not actually collide.  <br /></td></tr>
<tr class="separator:add2819f7131894b379fd2c6f4b90099a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad02e3fa2a71653627234207197f2038a" id="r_ad02e3fa2a71653627234207197f2038a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_sub_shape_i_d.html">SubShapeID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad02e3fa2a71653627234207197f2038a">mSubShapeID1</a></td></tr>
<tr class="memdesc:ad02e3fa2a71653627234207197f2038a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sub shapes that formed this manifold (note that when multiple manifolds are combined because they're coplanar, we lose some information here because we only keep track of one sub shape pair that we encounter, see description at <a class="el" href="class_body.html#a8c24ff0c08f1a31fc57d01420f9cae8b">Body::SetUseManifoldReduction</a>)  <br /></td></tr>
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<tr class="memitem:a4daf9a7c0e11fcbfe1a65ffcea1a5fb1" id="r_a4daf9a7c0e11fcbfe1a65ffcea1a5fb1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_sub_shape_i_d.html">SubShapeID</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a4daf9a7c0e11fcbfe1a65ffcea1a5fb1">mSubShapeID2</a></td></tr>
<tr class="separator:a4daf9a7c0e11fcbfe1a65ffcea1a5fb1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab878d752ba8167d0e1292ddded15f153" id="r_ab878d752ba8167d0e1292ddded15f153"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_contact_listener_8h.html#ac6f5f34116f161cc13203803010c37c1">ContactPoints</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab878d752ba8167d0e1292ddded15f153">mRelativeContactPointsOn1</a></td></tr>
<tr class="memdesc:ab878d752ba8167d0e1292ddded15f153"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contact points on the surface of shape 1 relative to mBaseOffset.  <br /></td></tr>
<tr class="separator:ab878d752ba8167d0e1292ddded15f153"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82c0a5937e977e8ce4169d39e1a3d64c" id="r_a82c0a5937e977e8ce4169d39e1a3d64c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_contact_listener_8h.html#ac6f5f34116f161cc13203803010c37c1">ContactPoints</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a82c0a5937e977e8ce4169d39e1a3d64c">mRelativeContactPointsOn2</a></td></tr>
<tr class="memdesc:a82c0a5937e977e8ce4169d39e1a3d64c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contact points on the surface of shape 2 relative to mBaseOffset. If there's no penetration, this will be the same as mRelativeContactPointsOn1. If there is penetration they will be different.  <br /></td></tr>
<tr class="separator:a82c0a5937e977e8ce4169d39e1a3d64c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Manifold class, describes the contact surface between two bodies. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a1112cfe6df7934c56e585d5985d2870a" name="a1112cfe6df7934c56e585d5985d2870a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1112cfe6df7934c56e585d5985d2870a">&#9670;&#160;</a></span>GetWorldSpaceContactPointOn1()</h2>

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          <td class="memname"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a> ContactManifold::GetWorldSpaceContactPointOn1 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></td>          <td class="paramname"><span class="paramname"><em>inIndex</em></span></td><td>)</td>
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<p>Access to the world space contact positions. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a28d3d860f9bb992c0c581b7a68df6681">&#9670;&#160;</a></span>GetWorldSpaceContactPointOn2()</h2>

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          <td class="memname"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a> ContactManifold::GetWorldSpaceContactPointOn2 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></td>          <td class="paramname"><span class="paramname"><em>inIndex</em></span></td><td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a48787ecfb82e124dfa8cd1de71ed8027">&#9670;&#160;</a></span>SwapShapes()</h2>

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<p>Swaps shape 1 and 2. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a7411bc12e55f88b3e2855fe8dc57a05e">&#9670;&#160;</a></span>mBaseOffset</h2>

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          <td class="memname"><a class="el" href="_real_8h.html#ae088dda635fb0ba1c96ea179d384ca40">RVec3</a> ContactManifold::mBaseOffset</td>
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<p>Offset to which all the contact points are relative. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#add2819f7131894b379fd2c6f4b90099a">&#9670;&#160;</a></span>mPenetrationDepth</h2>

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          <td class="memname">float ContactManifold::mPenetrationDepth</td>
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<p>Penetration depth (move shape 2 by this distance to resolve the collision). If this value is negative, this is a speculative contact point and may not actually result in a velocity change as during solving the bodies may not actually collide. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab878d752ba8167d0e1292ddded15f153">&#9670;&#160;</a></span>mRelativeContactPointsOn1</h2>

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          <td class="memname"><a class="el" href="_contact_listener_8h.html#ac6f5f34116f161cc13203803010c37c1">ContactPoints</a> ContactManifold::mRelativeContactPointsOn1</td>
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<p>Contact points on the surface of shape 1 relative to mBaseOffset. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a82c0a5937e977e8ce4169d39e1a3d64c">&#9670;&#160;</a></span>mRelativeContactPointsOn2</h2>

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          <td class="memname"><a class="el" href="_contact_listener_8h.html#ac6f5f34116f161cc13203803010c37c1">ContactPoints</a> ContactManifold::mRelativeContactPointsOn2</td>
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<p>Contact points on the surface of shape 2 relative to mBaseOffset. If there's no penetration, this will be the same as mRelativeContactPointsOn1. If there is penetration they will be different. </p>

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<p>Sub shapes that formed this manifold (note that when multiple manifolds are combined because they're coplanar, we lose some information here because we only keep track of one sub shape pair that we encounter, see description at <a class="el" href="class_body.html#a8c24ff0c08f1a31fc57d01420f9cae8b">Body::SetUseManifoldReduction</a>) </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab90dc956aa8b9936495992212fa64487">&#9670;&#160;</a></span>mWorldSpaceNormal</h2>

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          <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> ContactManifold::mWorldSpaceNormal</td>
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<p>Normal for this manifold, direction along which to move body 2 out of collision along the shortest path. </p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>Jolt/Physics/Collision/<a class="el" href="_contact_listener_8h_source.html">ContactListener.h</a></li>
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