Struct NonlinearContactForce::NonlinearContactForceScratch

• Defined in File NonlinearContactForce.h

Nested Relationships

This struct is a nested type of Class NonlinearContactForce.

Struct Documentation

struct NonlinearContactForceScratch

Scratch data populated by the latest force computation.

Public Members

double penetration = km::notReadyNaN

Positive penetration depth in meters.

km::Vec3 linvel

Relative contact-point velocity expressed in frame 1.

km::Vec3 f

Total force on object 1 expressed in frame 1.