Class: 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.

This structure is stored across time steps, so we keep it small.

Note: impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.

Constructors

Constructor

new ManifoldPoint(): ManifoldPoint

Returns

ManifoldPoint

Properties

id

readonly id: ContactID

Uniquely identifies a contact point between two shapes to facilitate warm starting

---

localPoint

localPoint: Vec2Value

Usage depends on manifold type:

• circles: the local center of circleB
• faceA: the local center of circleB or the clip point of polygonB
• faceB: the clip point of polygonA

---

normalImpulse

normalImpulse: number = 0

The non-penetration impulse

---

tangentImpulse

tangentImpulse: number = 0

The friction impulse

Methods

recycle()

recycle(): void

Returns

void

---

set()

set(that): void

Parameters

that

ManifoldPoint

Returns

void