Information about a contact point between two actors. More...

#include <mochi_structs.h>

Public Attributes
ActorHandle	actorA = {}
	Handle of the colliding actor.
ActorHandle	actorB = {}
	Handle of the collider actor.
real	distance = 0_r
	Signed separation distance [m] between posA (on actorA) and the closest point on the surface of actorB.
int	elementIndex = -1
	Element index in the mesh used for colliding samples on actorA.
Real3	force = {}
	Contact force [N] applied to actorA from actorB in world frame.
real	intWeight = 0_r
	Quadrature integration weight of the sample point on the colliding manifold of actorA.
Real3	normal = {}
	Contact normal in world frame pointing away from actorB.
Real3	parametricCoords = {}
	Parametric coordinates within the surface element of actorA.
Real3	pointVelocityA = {}
	Velocity [m/s] of the contact point on actorA in world frame.
Real3	pointVelocityB = {}
	Velocity [m/s] of the contact point on actorB in world frame.
Real3	posA = {}
	Contact position [m] on actorA in world frame.
Real3	posB = {}
	Approximate contact position [m] on actorB in world frame.
int	sampleIndex = 0
	Sample point index of actorA.

Detailed Description

Information about a contact point between two actors.

Describes a single contact or near-contact point between two actors. Contains geometric information (positions, normal, distance), kinematic data (velocities), and dynamic data (force). Also includes finite element discretization information for accurate force interpolation.

Note: Available via Actor::GetContactPointsWorld after registering QueryType::ContactPoints.

See also: QueryType::ContactPoints, Actor::RegisterQuery, Actor::GetContactPointsWorld

Definition at line 456 of file mochi_structs.h.

Member Data Documentation

◆ actorA

ActorHandle superdex::ContactPoint::actorA = {}

Handle of the colliding actor.

Note: When calling Actor::GetContactPointsWorld, the actor being queried may be reported as either actorA or actorB in this struct, depending on the direction of the contact test.; May be the same as actorB in the case of self-contact.

Definition at line 457 of file mochi_structs.h.

◆ actorB

ActorHandle superdex::ContactPoint::actorB = {}

Handle of the collider actor.

Note: When calling Actor::GetContactPointsWorld, the actor being queried may be reported as either actorA or actorB in this struct, depending on the direction of the contact test.; May be the same as actorA in the case of self-contact.

Definition at line 459 of file mochi_structs.h.

◆ distance

real superdex::ContactPoint::distance = 0_r

Signed separation distance [m] between posA (on actorA) and the closest point on the surface of actorB.

Negative if the point is inside (i.e. actors overlap).

Definition at line 461 of file mochi_structs.h.

◆ elementIndex

int superdex::ContactPoint::elementIndex = -1

Element index in the mesh used for colliding samples on actorA.

Note: For shell actors, this is the physics mesh returned by Actor::GetMesh unless contact-skin contact is enabled, in which case it is the compact contact skin returned by Actor::GetSurfaceMesh.; For rod actors, this field is not populated and is reported as 0. Use sampleIndex to identify the contact location.

Definition at line 479 of file mochi_structs.h.

◆ force

Real3 superdex::ContactPoint::force = {}

Contact force [N] applied to actorA from actorB in world frame.

Definition at line 469 of file mochi_structs.h.

◆ intWeight

real superdex::ContactPoint::intWeight = 0_r

Quadrature integration weight of the sample point on the colliding manifold of actorA.

Note: Units depend on the dimensionality of the colliding manifold of actorA: [m²] for surface contact (e.g., rigid, articulated, soft, shell, and rod actors using contact-skin contact), or [m] for rod actors using centerline contact.; For surface contact, represents the surface area corresponding to the sample point. For rod centerline contact, represents the arc length.; Useful for contact area/length estimation and other post-processing.; force is already weighted by this value.

Definition at line 477 of file mochi_structs.h.

◆ normal

Real3 superdex::ContactPoint::normal = {}

Contact normal in world frame pointing away from actorB.

Unit length.

Definition at line 467 of file mochi_structs.h.

◆ parametricCoords

Real3 superdex::ContactPoint::parametricCoords = {}

Parametric coordinates within the surface element of actorA.

Note: Corresponds to finite-element basis function values at the contact sample quadrature point.; For linear finite elements, these match barycentric coordinates.; Allows interpolation of functions defined on triangle vertices.; For rod actors, this field is not populated and is reported as {0, 0, 0}. Use sampleIndex to identify the contact location.

Definition at line 481 of file mochi_structs.h.

◆ pointVelocityA

Real3 superdex::ContactPoint::pointVelocityA = {}

Velocity [m/s] of the contact point on actorA in world frame.

Definition at line 471 of file mochi_structs.h.

◆ pointVelocityB

Real3 superdex::ContactPoint::pointVelocityB = {}

Velocity [m/s] of the contact point on actorB in world frame.

Definition at line 473 of file mochi_structs.h.

◆ posA

Real3 superdex::ContactPoint::posA = {}

Contact position [m] on actorA in world frame.

Definition at line 463 of file mochi_structs.h.

◆ posB

Real3 superdex::ContactPoint::posB = {}

Approximate contact position [m] on actorB in world frame.

Note: Equivalent to (posA - normal * distance).

Definition at line 465 of file mochi_structs.h.

◆ sampleIndex

int superdex::ContactPoint::sampleIndex = 0

Sample point index of actorA.

Definition at line 475 of file mochi_structs.h.

The documentation for this struct was generated from the following files:

Public Attributes