Class for passing basic data about contact pairs.
|Basic default constructor. |
|ChCollisionInfo (const ChCollisionInfo &other, const bool swap=false)|
|Copy from other. |
|Swap models, that is modelA becomes modelB and viceversa; normal and so on are updates as well. More...|
|model A |
|model B |
|coll.point on A, in abs coords |
|coll.point on B, in abs coords |
|coll.normal, respect to A, in abs coords |
|distance (negative for penetration) |
|pointer to some persistent user cache of reactions |
Member Function Documentation
Swap models, that is modelA becomes modelB and viceversa; normal and so on are updates as well.