C# Class Box2D.Collision.ManifoldPoint

A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type:
  • e_circles: the local center of circleB
  • e_faceA: the local center of cirlceB or the clip point of polygonB
  • e_faceB: the clip point of polygonA
This structure is stored across time steps, so we keep it small.
Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.
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Public Properties

Property Type Description
Id ContactID
LocalPoint Box2D.Common.Vec2
NormalImpulse float
TangentImpulse float

Public Methods

Method Description
ManifoldPoint ( ) : Box2D.Common

Blank manifold point with everything zeroed out.
ManifoldPoint ( ManifoldPoint cp ) : Box2D.Common

Creates a manifold point as a copy of the given point
Set ( ManifoldPoint cp ) : void

Sets this manifold point form the given one

Method Details

ManifoldPoint() public method

Blank manifold point with everything zeroed out.
public ManifoldPoint ( ) : Box2D.Common
return Box2D.Common

ManifoldPoint() public method

Creates a manifold point as a copy of the given point
public ManifoldPoint ( ManifoldPoint cp ) : Box2D.Common
cp ManifoldPoint point to copy from
return Box2D.Common

Set() public method

Sets this manifold point form the given one
public Set ( ManifoldPoint cp ) : void
cp ManifoldPoint the point to copy from
return void

Property Details

Id public_oe property

uniquely identifies a contact point between two shapes
public ContactID Id
return ContactID

LocalPoint public_oe property

usage depends on manifold type
public Vec2,Box2D.Common LocalPoint
return Box2D.Common.Vec2

NormalImpulse public_oe property

the non-penetration impulse
public float NormalImpulse
return float

TangentImpulse public_oe property

the friction impulse
public float TangentImpulse
return float