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McdContact Struct Reference

Geometric contact point information. More...

#include <McdFrame.h>

List of all members.

Public Attributes
McdReal	position [3]
	position, in world coordinates, of the point of contact.
McdReal	normal [3]
	surface normal at the contact position. More...
McdReal	separation
	separation between objects. More...
McdReal	curvature1
	local curvature of model1's surface at the contact position.
McdReal	curvature2
	local curvature of model2's surface at the contact position.
short	dims
	dimensional characterisation of the contact. More...
void*	auxPtr
	auxiliary data. More...
int	auxTag
	an auxiliary integer field. More...

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Detailed Description

Geometric contact point information.

Typically, a number of McdContact structs are associated with a given McdModelPair. Some of the information in the McdContact struct depends on the order of the

• model1 and
• model2 fields of the associated McdModelPair.

See also:

McdModelPair

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Member Data Documentation

void * McdContact::auxPtr

auxiliary data.

Used by some intersection functions. This API element is subject to change

int McdContact::auxTag

an auxiliary integer field.

Used by some intersection functions. This API element is subject to change

short McdContact::dims

dimensional characterisation of the contact.

Possible values are 0, 1 and 2, corresponding to point, line and surface, respectively

McdReal McdContact::normal[3]

surface normal at the contact position.

Sign chosen so as to point from

• model1 to
• model2 in the associated McdModelPair.

McdReal McdContact::separation

separation between objects.

Negative if there is penetration

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

• McdFrame.h

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