Vkm::Engine::Contact Struct Reference

A single collision contact point in world space. More...

#include <contact.h>

Public Attributes
glm::vec3	point = {0.0f, 0.0f, 0.0f}
	Contact position (world)
glm::vec3	normal = {0.0f, 1.0f, 0.0f}
	Unit normal, A -> B.
float	penetration = 0.0f
	Positive overlap depth.
float	normalImpulse = 0.0f
	Accumulated normal impulse, seeded from last tick.
float	restitutionBias = 0.0f
	Target separation speed (set once, pre-solve)
glm::vec3	tangent1 = {0.0f, 0.0f, 0.0f}
	Friction as two impulses along a basis fixed for the whole tick.
glm::vec3	warmFriction = {0.0f, 0.0f, 0.0f}
	Last tick's friction, as a world vector, waiting for a basis.
glm::vec3	rA = {0.0f, 0.0f, 0.0f}
	Pre-solve constants: the lever arms and the effective masses.

Detailed Description

A single collision contact point in world space.

The accumulated impulses persist across solver passes, so they converge, and across ticks, seeded by ContactCache::seed before the solve.

Member Data Documentation

tangent1

glm::vec3 Vkm::Engine::Contact::tangent1 = {0.0f, 0.0f, 0.0f}

Friction as two impulses along a basis fixed for the whole tick.

Not one impulse along the sliding direction: that is re-derived every pass, so a pass that finds the sliding reversed would apply the whole accumulated scalar the wrong way.

warmFriction

glm::vec3 Vkm::Engine::Contact::warmFriction = {0.0f, 0.0f, 0.0f}

Last tick's friction, as a world vector, waiting for a basis.

Left by ContactCache::seed; the pre-solve resolves it into tangentImpulse1/2 once the basis exists. Zero when the cache had nothing. A vector, because the scalars mean something only on the basis they were measured on, and seed runs before this tick's basis is built.

rA

glm::vec3 Vkm::Engine::Contact::rA = {0.0f, 0.0f, 0.0f}

Pre-solve constants: the lever arms and the effective masses.

No pass moves a body (poses integrate once, between the biased and relax passes), so these are built once and read unchanged by every pass.

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

• system/physics/collision/contact.h