Tao.Ode SDK Documentation

Ode.dContactGeom Fields

The fields of the Ode.dContactGeom structure are listed below. For a complete list of Ode.dContactGeom structure members, see the Ode.dContactGeom Members topic.

Public Instance Fields

depth The depth to which the two bodies inter-penetrate each other. If the depth is zero then the two bodies have a grazing contact, i.e. they "only just" touch. However, this is rare - the simulation is not perfectly accurate and will often step the bodies too far so that the depth is nonzero.
g1 The geometry objects that collided.
g2 
normal A unit length vector that is, generally speaking, perpendicular to the contact surface.
pos The contact position in global coordinates.
side1 (to be documented) - verbatim from the ODE source.
side2 

See Also

Ode.dContactGeom Class | Tao.Ode Namespace