| Name |
Description |
| AABB |
An axis aligned bounding box. |
| ClipVertex |
Used for computing contact manifolds. |
| Collision |
|
| ContactFeature |
The features that intersect to form the contact point This must be 4 bytes or less. |
| ContactID |
|
| Distance |
|
| DistanceInput |
Input for ComputeDistance. You have to option to use the shape radii in the computation. |
| DistanceOutput |
Output for ComputeDistance. |
| DistanceProxy |
A distance proxy is used by the GJK algorithm. It encapsulates any shape. |
| EPAxis |
|
| EPProxy |
This lets us treate and edge shape and a polygon in the same way in the SAT collider. |
| FatEdge |
Edge shape plus more stuff. |
| Manifold |
A manifold for two touching convex Shapes. Box2D supports multiple types of contact: - clip point versus plane with radius - point versus point with radius (circles) The local point usage depends on the manifold type: -ShapeType.Circles: the local center of circleA -SeparationFunction.FaceA: the center of faceA -SeparationFunction.FaceB: the center of faceB Similarly the local normal usage: -ShapeType.Circles: not used -SeparationFunction.FaceA: the normal on polygonA -SeparationFunction.FaceB: the normal on polygonB We store contacts in this way so that position correction can account for movement, which is critical for continuous physics. All contact scenarios must be expressed in one of these types. This structure is stored across time steps, so we keep it small. |
| 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: -ShapeType.Circles: the local center of circleB -SeparationFunction.FaceA: the local center of cirlceB or the clip point of polygonB -SeparationFunction.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. |
| RayCastInput |
Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). |
| RayCastOutput |
Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2 come from RayCastInput. |
| SeparationFunction |
|
| Simplex |
|
| SimplexCache |
Used to warm start ComputeDistance. Set count to zero on first call. |
| SimplexVertex |
|
| TOIInput |
Input parameters for CalculateTimeOfImpact |
| TOIOutput |
|
| TimeOfImpact |
|