Struct SolverContactPoint

Per-contact point data for the normal iterations (hot loop).

struct SolverContactPoint

Per-contact point data for the normal iterations (hot loop).

angularMeasure* = r x n, used to read relative velocity at the contact; angularResponse* = the spin change per unit impulse. Both zeroed when unused.

Public Members

fm_vec3_t angularMeasureA = {}

fm_vec3_t angularMeasureB = {}

fm_vec3_t angularResponseA = {}

fm_vec3_t angularResponseB = {}

float normalMass = {0.0f}

float velocityBias = {0.0f}

float accumulatedImpulse = {0.0f}

float positionBias = {0.0f}

float accumulatedPushImpulse = {0.0f}