Struct Contact

Namespace

BepuPhysics.CollisionDetection

Assembly

BepuPhysics.dll

Information about a single contact.

public struct Contact

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Remarks

This type contains a field for the normal; it can be used to represent contacts within nonconvex contact manifolds or convex manifolds.

Fields

Depth

Penetration depth between the two collidables at this contact. Negative values represent separation.

public float Depth

Field Value

float

FeatureId

Id of the features involved in the collision that generated this contact. If a contact has the same feature id as in a previous frame, it is an indication that the same parts of the shape contributed to its creation. This is useful for carrying information from frame to frame.

public int FeatureId

Field Value

int

Normal

Surface basis of the contact. If transformed into a rotation matrix, X and Z represent tangent directions and Y represents the contact normal. Points from collidable B to collidable A.

public Vector3 Normal

Field Value

Vector3

Offset

Offset from the position of collidable A to the contact position.

public Vector3 Offset

Field Value

Vector3