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29
30#ifndef GU_CONTACT_POINT_H
31#define GU_CONTACT_POINT_H
32
33/** \addtogroup geomutils
34@{
35*/
36
37#include "foundation/PxVec3.h"
38
39namespace physx
40{
41namespace Gu
42{
43
44struct ContactPoint
45{
46 /**
47 \brief The normal of the contacting surfaces at the contact point.
48
49 For two shapes s0 and s1, the normal points in the direction that s0 needs to move in to resolve the contact with s1.
50 */
51 PX_ALIGN(16, PxVec3 normal);
52 /**
53 \brief The separation of the shapes at the contact point. A negative separation denotes a penetration.
54 */
55 PxReal separation;
56
57 /**
58 \brief The point of contact between the shapes, in world space.
59 */
60 PX_ALIGN(16, PxVec3 point);
61
62 /**
63 \brief The max impulse permitted at this point
64 */
65 PxReal maxImpulse;
66
67 PX_ALIGN(16, PxVec3 targetVel);
68
69 /**
70 \brief The static friction coefficient
71 */
72 PxReal staticFriction;
73
74 /**
75 \brief Material flags for this contact (eDISABLE_FRICTION, eDISABLE_STRONG_FRICTION). @see PxMaterialFlag
76 */
77 PxU8 materialFlags;
78
79 /**
80 \brief internal structure used for internal use only
81 */
82 PxU16 forInternalUse;
83
84 /**
85 \brief The surface index of shape 1 at the contact point. This is used to identify the surface material.
86
87 \note This field is only supported by triangle meshes and heightfields, else it will be set to PXC_CONTACT_NO_FACE_INDEX.
88 \note This value must be directly after internalFaceIndex0 in memory
89 */
90
91 PxU32 internalFaceIndex1;
92
93 /**
94 \brief The dynamic friction coefficient
95 */
96 PxReal dynamicFriction;
97 /**
98 \brief The restitution coefficient
99 */
100 PxReal restitution;
101
102};
103
104}
105
106}
107
108/** @} */
109#endif
110

source code of qtquick3dphysics/src/3rdparty/PhysX/include/geomutils/GuContactPoint.h