Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class ContactManifold

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.ContactManifold

All Implemented Interfaces:

ConstContactManifold, ConstJoltPhysicsObject, AutoCloseable, Comparable<JoltPhysicsObject>

public final class ContactManifold
extends JoltPhysicsObject
implements ConstContactManifold

The contact surface between two bodies.

Constructor Summary

Constructors

Constructor	Description
ContactManifold(long manifoldVa)	Instantiate a manifold with the specified native object assigned but not owned.

Method Summary

Modifier and Type	Method	Description
RVec3	getBaseOffset()	Copy the location from which all contact points are measured.
float	getPenetrationDepth()	Return the penetration depth: the distance to move body 2 out of collision.
int	getSubShapeId1()	Return the ID of the first sub-shape that formed the manifold.
int	getSubShapeId2()	Return the ID of the 2nd sub-shape that formed the manifold.
Vec3	getWorldSpaceNormal()	Copy the normal vector: the direction to move body 2 out of collision.

Methods inherited from class com.github.stephengold.joltjni.JoltPhysicsObject

close, compareTo, equals, getContainingObject, hasAssignedNativeObject, hashCode, isCleanerStarted, ownsNativeObject, setVirtualAddress, setVirtualAddress, startCleaner, targetVa, toString, va

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface java.lang.Comparable

compareTo

Methods inherited from interface com.github.stephengold.joltjni.readonly.ConstJoltPhysicsObject

close, hasAssignedNativeObject, ownsNativeObject, targetVa

Constructor Details

ContactManifold

public ContactManifold(long manifoldVa)

Instantiate a manifold with the specified native object assigned but not owned.

Parameters:

manifoldVa - the virtual address of the native object to assign (not zero)

Method Details

getBaseOffset

public RVec3 getBaseOffset()

Copy the location from which all contact points are measured. The manifold is unaffected. (native attribute: mBaseOffset)

Specified by:

getBaseOffset in interface ConstContactManifold

Returns:

a new location vector

getPenetrationDepth

public float getPenetrationDepth()

Return the penetration depth: the distance to move body 2 out of collision. The manifold is unaffected. (native attribute: mPenetrationDepth)

Specified by:

getPenetrationDepth in interface ConstContactManifold

Returns:

the signed distance (negative for a speculative contact)

getSubShapeId1

public int getSubShapeId1()

Return the ID of the first sub-shape that formed the manifold. The manifold is unaffected. (native attribute: mSubShapeID1)

Specified by:

getSubShapeId1 in interface ConstContactManifold

Returns:

a SubShapeID value (typically negative)

getSubShapeId2

public int getSubShapeId2()

Return the ID of the 2nd sub-shape that formed the manifold. The manifold is unaffected. (native attribute: mSubShapeID2)

Specified by:

getSubShapeId2 in interface ConstContactManifold

Returns:

a SubShapeID value (typically negative)

getWorldSpaceNormal

public Vec3 getWorldSpaceNormal()

Copy the normal vector: the direction to move body 2 out of collision. The manifold is unaffected. (native attribute: mWorldSpaceNormal)

Specified by:

getWorldSpaceNormal in interface ConstContactManifold

Returns:

a new direction vector (in system coordinates)