blaze.collision.collision

union ContactID ;

Contact point ID

struct Features ;

Contact features

struct 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 point is stored in local coordinates because CCD requires sub-stepping in which the separation is stale.

bVec2 localPoint1 ;

local position of the contact point in body1

bVec2 localPoint2 ;

local position of the contact point in body2

float separation ;

the separation of the shapes along the normal vector

float normalImpulse ;

the non-penetration impulse

float tangentImpulse ;

the friction impulse

ContactID id ;

uniquely identifies a contact point between two shapes

struct Manifold ;

A manifold for two touching convex shapes.

ManifoldPoint [2LU] points ;

the points of contact

bVec2 normal ;

the shared unit normal vector

int pointCount ;

the number of manifold points

struct AABB ;

An axis aligned bounding box.

bVec2 lowerBound ;

the lower vertex (lower left)

bVec2 upperBound ;

the upper vertex (upper right)

struct OBB ;

An oriented bounding box.

bMat22 R ;

the rotation matrix

bVec2 center ;

the local centroid

bVec2 extents ;

the half-widths.

bool testOverlap (AABB a, AABB b);

Test if two AABB's overlap

Returns:
true if there is an overlap. false otherwise

bool testOverlap (AABB a, bVec2 point);

Test if AABB contains the given point

Params:

AABB a	the box
bVec2 point	the point

Returns:
true if there is an intersection, false otherwise

struct Segment ;

A line segment.

bVec2 p1 ;

the starting point

bVec2 p2 ;

the ending point

bool testSegment (ref float lambda, ref bVec2 normal, Segment segment, float maxLambda);

Tests to determine if a ray intersects the given segment

Params:

float lambda	unknown
bVec2 normal	the ray
Segment segment	the segment
float maxLambda	unknown

Returns:
true if the ray intersects the segment, false otherwise