#include <contact.h>
Data Fields | |
| dVector3 | pos |
| contact position | |
| dVector3 | normal |
| normal vector | |
| dReal | depth |
| penetration depth | |
| dGeomID | g1 |
| dGeomID | g2 |
| the colliding geoms | |
| int | side1 |
| int | side2 |
| (to be documented) | |
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 dContactGeom.
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.
1.5.3