Type Alias CachedContactPoint

cached contact point with impulse history for warm starting

type CachedContactPoint = {
    frictionLambda1: number;
    frictionLambda2: number;
    normalLambda: number;
    position1: Vec3;
    position2: Vec3;
}

Properties

frictionLambda1: number

accumulated friction impulse (tangent 1) from previous frame

frictionLambda2: number

accumulated friction impulse (tangent 2) from previous frame

normalLambda: number

accumulated normal impulse from previous frame

position1: Vec3

contact position in body A's local center of mass space

position2: Vec3

contact position in body B's local center of mass space