Struct EpaResult

Result of EPA solving: contact information for overlapping rigidBodys.

struct EpaResult

Result of EPA solving: contact information for overlapping rigidBodys.

Public Members

fm_vec3_t contactA = {}

Point on A’s surface furthest inside B.

fm_vec3_t contactB = {}

Point on B’s surface furthest inside A.

fm_vec3_t normal = {}

Contact normal pointing from B to A.

float penetration = {0.0f}

Overlap depth.