A contact between two geometries. More...

#include <Contacts.h>

Inheritance diagram for agxCollide::GeometryContact:

Public Types
enum	ContactState { NO_CONTACT = 0 , IMPACT_STATE = 1 , CONTACT_STATE = 2 , SEPARATION_STATE = 3 }
	Specify the state of the contact. More...

typedef ContactPoint	PointType

Public Types inherited from agx::Physics::GeometryContactPtr
typedef GeometryContactData	DataType

typedef GeometryContactInstance	InstanceType

typedef GeometryContactModel	ModelType

Public Types inherited from agx::Physics::ContactPtr
typedef ContactData	DataType

typedef ContactInstance	InstanceType

typedef ContactModel	ModelType

Public Types inherited from agx::Physics::InteractionPtr
typedef InteractionData	DataType

typedef InteractionInstance	InstanceType

typedef InteractionModel	ModelType

Public Member Functions
	GeometryContact ()
	Default constructor.

	GeometryContact (agx::Physics::GeometryContactPtr contact)
	Construct given geometry contact entity data.

agx::Vec3f	calculateRelativeVelocity (size_t pointIndex=0) const
	Calculate the relative velocity in a contact point.

void	clear ()
	Clear contact points.

int	contains (agx::RigidBody *body) const
	Will return -1 if body does not exist in this GeometryContact, 0 if it is the first (index 0) and 1 if it is the second (index 1).

int	contains (agxCollide::Geometry *geometry) const
	Will return -1 if geometry does not exist in this GeometryContact, 0 if it is the first (index 0) and 1 if it is the second (index 1).

agxCollide::Geometry *	geometry (size_t ith)

const agxCollide::Geometry *	geometry (size_t ith) const

void *	getCustomData ()

const void *	getCustomData () const

agx::ContactMaterial *	getMaterial ()
	If the contact material for this geometry contact is explicit it can be accessed here.

const agx::ContactMaterial *	getMaterial () const
	If the contact material for this geometry contact is explicit it can be accessed here.

const agx::ContactMaterial *	getMaterial (bool) const
	It's not possible to change parameters in an implicit contact material.

agx::Bool	hasImpactingPoints () const

bool	isEnabled () const

ContactPointVector &	points ()

const ContactPointVector &	points () const

void	removeContactPoint (ContactPoint &point)
	remove the specified ContactPoint from the set of contact points.

agx::RigidBody *	rigidBody (size_t ith)
	Returns access to rigid body data.

const agx::RigidBody *	rigidBody (size_t ith) const
	Returns access to rigid body data.

void	setCustomData (void *customData)
	Store custom data for this Contact.

void	setEnable (bool flag)
	Set to false to disable the contact.

agx::UInt8	state () const

Public Member Functions inherited from agx::Physics::GeometryContactPtr
AGXPHYSICS_EXPORT	GeometryContactPtr ()

AGXPHYSICS_EXPORT	GeometryContactPtr (agxData::EntityStorage *storage, agx::Index id)

AGXPHYSICS_EXPORT	GeometryContactPtr (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT	GeometryContactPtr (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agx::Physics::RigidBodyPtr &	body1 ()
	body1 is the rigid body of geometry1, can be assumed to be a valid rigid body.

AGXPHYSICS_EXPORT agx::Physics::RigidBodyPtr const &	body1 () const
	body1 is the rigid body of geometry1, can be assumed to be a valid rigid body.

AGXPHYSICS_EXPORT agx::Physics::RigidBodyPtr &	body2 ()
	body2 is the rigid body of geometry2, can be NULL.

AGXPHYSICS_EXPORT agx::Physics::RigidBodyPtr const &	body2 () const
	body2 is the rigid body of geometry2, can be NULL.

AGXPHYSICS_EXPORT agx::Physics::BroadPhasePairPtr &	broadPhasePair ()

AGXPHYSICS_EXPORT agx::Physics::BroadPhasePairPtr const &	broadPhasePair () const

AGXPHYSICS_EXPORT void *&	customData ()

AGXPHYSICS_EXPORT void *const &	customData () const

AGXPHYSICS_EXPORT agx::Bool &	enabled ()

AGXPHYSICS_EXPORT agx::Bool const &	enabled () const

AGXPHYSICS_EXPORT agx::Physics::GeometryPtr &	geometry1 ()

AGXPHYSICS_EXPORT agx::Physics::GeometryPtr const &	geometry1 () const

AGXPHYSICS_EXPORT agx::Physics::GeometryPtr &	geometry2 ()

AGXPHYSICS_EXPORT agx::Physics::GeometryPtr const &	geometry2 () const

GeometryContactData *	getData ()

const GeometryContactData *	getData () const

AGXPHYSICS_EXPORT agx::Bool &	hasInternalMaterial ()

AGXPHYSICS_EXPORT agx::Bool const &	hasInternalMaterial () const

AGXPHYSICS_EXPORT agx::Bool &	hasSurfaceVelocity ()

AGXPHYSICS_EXPORT agx::Bool const &	hasSurfaceVelocity () const

AGXPHYSICS_EXPORT agx::Bool &	immediately ()

AGXPHYSICS_EXPORT agx::Bool const &	immediately () const

AGXPHYSICS_EXPORT GeometryContactInstance	instance ()

AGXPHYSICS_EXPORT const GeometryContactInstance	instance () const

AGXPHYSICS_EXPORT GeometryContactSemantics *	operator-> ()

AGXPHYSICS_EXPORT const GeometryContactSemantics *	operator-> () const

AGXPHYSICS_EXPORT GeometryContactPtr &	operator= (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT GeometryContactPtr &	operator= (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agxData::Array< agx::Physics::ContactPointPtr > &	points ()
	The list of contact points.

AGXPHYSICS_EXPORT agxData::Array< agx::Physics::ContactPointPtr > const &	points () const
	The list of contact points.

AGXPHYSICS_EXPORT agx::Bool &	usingPPGS ()

AGXPHYSICS_EXPORT agx::Bool const &	usingPPGS () const

Public Member Functions inherited from agx::Physics::ContactPtr
AGXPHYSICS_EXPORT	ContactPtr ()

AGXPHYSICS_EXPORT	ContactPtr (agxData::EntityStorage *storage, agx::Index id)

AGXPHYSICS_EXPORT	ContactPtr (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT	ContactPtr (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agx::UInt32 &	constraintIndex ()

AGXPHYSICS_EXPORT agx::UInt32 const &	constraintIndex () const

AGXPHYSICS_EXPORT agx::UInt32 &	contactZoneIndex ()

AGXPHYSICS_EXPORT agx::UInt32 const &	contactZoneIndex () const

AGXPHYSICS_EXPORT agx::UInt16 &	contactZoneSlot ()

AGXPHYSICS_EXPORT agx::UInt16 const &	contactZoneSlot () const

ContactData *	getData ()

const ContactData *	getData () const

AGXPHYSICS_EXPORT ContactInstance	instance ()

AGXPHYSICS_EXPORT const ContactInstance	instance () const

AGXPHYSICS_EXPORT agx::Physics::ContactMaterialPtr &	material ()

AGXPHYSICS_EXPORT agx::Physics::ContactMaterialPtr const &	material () const

AGXPHYSICS_EXPORT ContactSemantics *	operator-> ()

AGXPHYSICS_EXPORT const ContactSemantics *	operator-> () const

AGXPHYSICS_EXPORT ContactPtr &	operator= (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT ContactPtr &	operator= (const agxData::EntityPtr &ptr)

Public Member Functions inherited from agx::Physics::InteractionPtr
AGXPHYSICS_EXPORT	InteractionPtr ()

AGXPHYSICS_EXPORT	InteractionPtr (agxData::EntityStorage *storage, agx::Index id)

AGXPHYSICS_EXPORT	InteractionPtr (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT	InteractionPtr (const agxData::EntityPtr &ptr)

InteractionData *	getData ()

const InteractionData *	getData () const

AGXPHYSICS_EXPORT agx::Physics::GraphNodePtr &	graphNode ()

AGXPHYSICS_EXPORT agx::Physics::GraphNodePtr const &	graphNode () const

AGXPHYSICS_EXPORT InteractionInstance	instance ()

AGXPHYSICS_EXPORT const InteractionInstance	instance () const

AGXPHYSICS_EXPORT InteractionSemantics *	operator-> ()

AGXPHYSICS_EXPORT const InteractionSemantics *	operator-> () const

AGXPHYSICS_EXPORT InteractionPtr &	operator= (const agxData::EntityInstance &instance)

AGXPHYSICS_EXPORT InteractionPtr &	operator= (const agxData::EntityPtr &ptr)

AGXPHYSICS_EXPORT agx::SolveModel *&	solveModel ()

AGXPHYSICS_EXPORT agx::SolveModel *const &	solveModel () const

Public Member Functions inherited from agxData::EntityPtr
	EntityPtr ()

	EntityPtr (agxData::EntityStorage *storage, agx::Index id)

	EntityPtr (const agxData::EntityInstance &instance)

	EntityPtr (const agxData::EntityPtr &other)=default

	~EntityPtr ()=default

agx::Index	calculateIndex () const
	Calculate the index using the indirect id.

agxData::EntityPtr	copy ()
	Create a copy instance in the same storage.

agxData::EntityPtr	copy (agxData::EntityStorage *target)
	Copy instance to another storage.

void	copyAttributes (agxData::EntityPtr source)
	Copy instance attributes to an existing target instance.

template<typename T >
T &	dataSet ()

template<typename T >
const T &	dataSet () const

void	destroy ()
	Remove the entity from the active storage.

agxData::EntityData *	getData ()

const agxData::EntityData *	getData () const

agx::Index	getId () const

agxData::EntityModel *	getModel ()

const agxData::EntityModel *	getModel () const

agxData::EntityStorage *	getStorage () const

agx::UInt32	hash () const

void	init (agxData::EntityStorage *storage, agx::Index id)
	Set the target storage and id.

agxData::EntityInstance	instance ()

const agxData::EntityInstance	instance () const

void	invalidate ()
	Invalidate the entity pointer.

bool	isInstanceOf (agxData::EntityModel *model) const

bool	isValid () const

	operator bool () const

bool	operator! () const

bool	operator!= (const EntityPtr &rhs) const

template<typename T >
agxData::ArrayAttributeT< T >::Type &	operator() (const agxData::ArrayAttributeT< T > *attribute)
	Array attribute.

template<typename T >
const agxData::ArrayAttributeT< T >::Type &	operator() (const agxData::ArrayAttributeT< T > *attribute) const

template<typename T >
agxData::HashSetAttributeT< T >::Type &	operator() (const agxData::HashSetAttributeT< T > *attribute)
	HashSet attribute.

template<typename T >
const agxData::HashSetAttributeT< T >::Type &	operator() (const agxData::HashSetAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::PointerAttributeT< T > *attribute)
	Pointer attribute.

template<typename T >
const T &	operator() (const agxData::PointerAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::ScalarAttributeT< T > *attribute)
	Access the value of a specific attribute.

template<typename T >
const T &	operator() (const agxData::ScalarAttributeT< T > *attribute) const

template<typename T >
T &	operator() (const agxData::SharedAttributeT< T > *attribute)
	Shared attribute.

template<typename T >
const T &	operator() (const agxData::SharedAttributeT< T > *attribute) const

template<typename T >
agxData::VectorAttributeT< T >::Type &	operator() (const agxData::VectorAttributeT< T > *attribute)
	Vector attribute.

template<typename T >
const agxData::VectorAttributeT< T >::Type &	operator() (const agxData::VectorAttributeT< T > *attribute) const

template<typename T >
ArrayAttributeT< T >::Type &	operator() (const ArrayAttributeT< T > *attribute)

template<typename T >
const ArrayAttributeT< T >::Type &	operator() (const ArrayAttributeT< T > *attribute) const

template<typename T >
HashSetAttributeT< T >::Type &	operator() (const HashSetAttributeT< T > *attribute)

template<typename T >
const HashSetAttributeT< T >::Type &	operator() (const HashSetAttributeT< T > *attribute) const

template<typename T >
VectorAttributeT< T >::Type &	operator() (const VectorAttributeT< T > *attribute)

template<typename T >
const VectorAttributeT< T >::Type &	operator() (const VectorAttributeT< T > *attribute) const

bool	operator< (const EntityPtr &rhs) const

EntityPtr &	operator= (const EntityPtr &other)=default

EntityPtr &	operator= (EntityPtr &&)=default

bool	operator== (const EntityPtr &rhs) const

bool	operator> (const EntityPtr &rhs) const

void	print () const

void	print (std::ostream &stream) const

void	swapId (EntityPtr &other)
	Swap id with another instance.

void	swapIndex (EntityPtr &other)
	Swap index with another instance.

void	transfer (agxData::EntityStorage *target)
	Transfer instance to another storage.

void	verifyIndex () const
	Check for broken ptr, by verifying that the id is active in the storage.

Static Public Member Functions
static bool	calculateSurfaceVelocity (const agxCollide::Geometry geometry1, const agxCollide::Geometry geometry2, ContactPoint &p)
	Calculate the relative velocity in a contact point between `geometry1` and `geometry2` Put result in `p`.

static bool	calculateSurfaceVelocity (const agxCollide::Geometry geometry1, const agxCollide::Geometry geometry2, LocalContactPoint &p)
	Calculate the relative velocity in a contact point between `geometry1` and `geometry2` Put result in `p`.

Static Public Member Functions inherited from agxData::EntityPtr
static EntityPtr	createWithIndex (EntityStorage *storage, agx::Index index)

static void	TransformToAscii (void targetBuffer, const void sourceBuffer, size_t numElements)

Detailed Description

A contact between two geometries.

Definition at line 353 of file Contacts.h.

Member Typedef Documentation

◆ PointType

typedef ContactPoint agxCollide::GeometryContact::PointType

Definition at line 356 of file Contacts.h.

Member Enumeration Documentation

◆ ContactState

enum agxCollide::GeometryContact::ContactState

Specify the state of the contact.

Enumerator
NO_CONTACT	! No contact yet
IMPACT_STATE	! First contact
CONTACT_STATE	! Continuous contact
SEPARATION_STATE	! Contact in last time step, now separated

Definition at line 360 of file Contacts.h.

Constructor & Destructor Documentation

◆ GeometryContact() [1/2]

agxCollide::GeometryContact::GeometryContact ( )

Default constructor.

Definition at line 710 of file Contacts.h.

◆ GeometryContact() [2/2]

agxCollide::GeometryContact::GeometryContact ( agx::Physics::GeometryContactPtr contact )

Construct given geometry contact entity data.

Parameters

contact - other geometry (to copy from)

Definition at line 715 of file Contacts.h.

Member Function Documentation

◆ calculateRelativeVelocity()

agx::Vec3f agxCollide::GeometryContact::calculateRelativeVelocity ( size_t pointIndex = 0 ) const

Calculate the relative velocity in a contact point.

Parameters

pointIndex - The contact point index in the points array containing all contact points for this pair of geometries.

Returns: relative velocity in world coordinate system.

Definition at line 753 of file Contacts.h.

References agx::RigidBody::getAngularVelocity(), agx::RigidBody::getCmPosition(), agx::RigidBody::getVelocity(), points(), and rigidBody().

◆ calculateSurfaceVelocity() [1/2]

bool agxCollide::GeometryContact::calculateSurfaceVelocity	(	const agxCollide::Geometry *	geometry1,
		const agxCollide::Geometry *	geometry2,
		ContactPoint &	p
	)

inlinestatic

Calculate the relative velocity in a contact point between geometry1 and geometry2 Put result in p.

Returns: false if none of the geometries have surface velocity enabled. Returns false if the resulting velocity.equalsZero()

Definition at line 771 of file Contacts.h.

References calculateSurfaceVelocity(), agx::Physics::GeometryContactPtr::geometry1(), agx::Physics::GeometryContactPtr::geometry2(), agx::Physics::GeometryContactPtr::hasSurfaceVelocity(), agx::Physics::ContactPointPtr::point(), agxCollide::LocalContactPoint::point(), agx::Physics::ContactPointPtr::velocity(), and agxCollide::LocalContactPoint::velocity().

◆ calculateSurfaceVelocity() [2/2]

static bool agxCollide::GeometryContact::calculateSurfaceVelocity	(	const agxCollide::Geometry *	geometry1,
		const agxCollide::Geometry *	geometry2,
		LocalContactPoint &	p
	)

static

Calculate the relative velocity in a contact point between geometry1 and geometry2 Put result in p.

Returns: false if none of the geometries have surface velocity enabled. Returns false if the resulting velocity.equalsZero()

Referenced by calculateSurfaceVelocity().

◆ clear()

void agxCollide::GeometryContact::clear ( )

Clear contact points.

◆ contains() [1/2]

int agxCollide::GeometryContact::contains ( agx::RigidBody * body ) const

inline

Will return -1 if body does not exist in this GeometryContact, 0 if it is the first (index 0) and 1 if it is the second (index 1).

This index (if > -1) can be used to get the rigid body with a call to rigidBody(idx)

Parameters

body	- the rigid body that you want to look for in this geometry contact

Returns: -1 if body does not exist in this GeometryContact, 0 if it is the first and 1 if it is the second

Definition at line 565 of file Contacts.h.

◆ contains() [2/2]

int agxCollide::GeometryContact::contains ( agxCollide::Geometry * geometry ) const

inline

Will return -1 if geometry does not exist in this GeometryContact, 0 if it is the first (index 0) and 1 if it is the second (index 1).

This index (if > -1) can be used to get the geometry with a call to geometry(idx)

Parameters

geometry - The geometry that you want to look for in this geometry contact

Returns: -1 if geometry does not exist in this GeometryContact, 0 if it is the first and 1 if it is the second

Definition at line 572 of file Contacts.h.

References geometry().

◆ geometry() [1/2]

agxCollide::Geometry * agxCollide::GeometryContact::geometry ( size_t ith )

Parameters

ith	- index of geometry, 0 or 1.

Returns: pointer to the ith geometry

Definition at line 721 of file Contacts.h.

References agxAssert, agx::Physics::GeometryContactPtr::geometry1(), agx::Physics::GeometryContactPtr::geometry2(), and agx::Physics::GeometryPtr::model().

Referenced by contains(), and agxSDK::ExecuteFilter::match().

◆ geometry() [2/2]

const agxCollide::Geometry * agxCollide::GeometryContact::geometry ( size_t ith ) const

Parameters

ith	- index of geometry, 0 or 1.

Returns: const pointer to the ith geometry

Definition at line 730 of file Contacts.h.

References agxAssert, agx::Physics::GeometryContactPtr::geometry1(), agx::Physics::GeometryContactPtr::geometry2(), and agx::Physics::GeometryPtr::model().

◆ getCustomData() [1/2]

void * agxCollide::GeometryContact::getCustomData ( )

Returns: pointer to custom data (with one data element for each contact point)

Definition at line 808 of file Contacts.h.

References agx::Physics::GeometryContactPtr::customData().

◆ getCustomData() [2/2]

const void * agxCollide::GeometryContact::getCustomData ( ) const

Returns: const pointer to custom data (with one data element for each contact point)

Definition at line 813 of file Contacts.h.

References agx::Physics::GeometryContactPtr::customData().

◆ getMaterial() [1/3]

agx::ContactMaterial * agxCollide::GeometryContact::getMaterial ( )

If the contact material for this geometry contact is explicit it can be accessed here.

If the contact material in this geometry contact is implicit, this method will return 0, and you have to create an explicit contact material with help of agxSDK::MaterialManager::getOrCreateContactMaterial.

Returns: the explicit contact material if present

Definition at line 846 of file Contacts.h.

References agx::Physics::ContactPtr::material(), and agx::Physics::ContactMaterialPtr::model().

Referenced by agxSDK::FrictionModelFilter::match().

◆ getMaterial() [2/3]

const agx::ContactMaterial * agxCollide::GeometryContact::getMaterial ( ) const

If the contact material for this geometry contact is explicit it can be accessed here.

If the contact material in this geometry contact is implicit, this method will return 0, and you have to create an explicit contact material with help of agxSDK::MaterialManager::getOrCreateContactMaterial.

Returns: the explicit contact material if present

Definition at line 853 of file Contacts.h.

References agx::Physics::ContactPtr::material(), and agx::Physics::ContactMaterialPtr::model().

◆ getMaterial() [3/3]

const agx::ContactMaterial * agxCollide::GeometryContact::getMaterial ( bool ) const

It's not possible to change parameters in an implicit contact material.

This method returns any type of contact material but const. It's recommended to use the getMaterial() method, this method is used internally.

Returns: the explicit or implicit contact material if present

Definition at line 860 of file Contacts.h.

References agx::Physics::ContactPtr::material(), and agx::Physics::ContactMaterialPtr::model().

◆ hasImpactingPoints()

agx::Bool agxCollide::GeometryContact::hasImpactingPoints ( ) const

Note: This state is calculated for the points during solve so the result is only reliable after solve and before next collision detection.

Returns: true if this geometry contact contains at least one contact point with state IMPACTING - otherwise false

◆ isEnabled()

bool agxCollide::GeometryContact::isEnabled ( ) const

Returns: True if the contact is enabled.

Definition at line 835 of file Contacts.h.

References agx::Physics::GeometryContactPtr::enabled().

◆ points() [1/2]

ContactPointVector & agxCollide::GeometryContact::points ( )

Returns: a reference to the contact points

Definition at line 798 of file Contacts.h.

References agx::Physics::GeometryContactPtr::points().

Referenced by calculateRelativeVelocity().

◆ points() [2/2]

const ContactPointVector & agxCollide::GeometryContact::points ( ) const

Returns: a const reference to the contact points

Definition at line 803 of file Contacts.h.

References agx::Physics::GeometryContactPtr::points().

◆ removeContactPoint()

void agxCollide::GeometryContact::removeContactPoint ( ContactPoint & point )

remove the specified ContactPoint from the set of contact points.

◆ rigidBody() [1/2]

agx::RigidBody * agxCollide::GeometryContact::rigidBody ( size_t ith )

Returns access to rigid body data.

Parameters

ith	- index of RigidBody, 0 or 1.

Returns: pointer to the ith RigidBody high level data

Definition at line 783 of file Contacts.h.

References agxAssert, agx::Physics::GeometryContactPtr::body1(), and agx::Physics::GeometryContactPtr::body2().

Referenced by calculateRelativeVelocity().

◆ rigidBody() [2/2]

const agx::RigidBody * agxCollide::GeometryContact::rigidBody ( size_t ith ) const

Returns access to rigid body data.

Parameters

ith	- index of RigidBody, 0 or 1.

Returns: const pointer to the ith RigidBody high level data

Definition at line 790 of file Contacts.h.

References agxAssert, agx::Physics::GeometryContactPtr::body1(), and agx::Physics::GeometryContactPtr::body2().

◆ setCustomData()

void agxCollide::GeometryContact::setCustomData ( void * customData )

inline

Store custom data for this Contact.

Parameters

customData - data to be stored

Definition at line 818 of file Contacts.h.

References agx::Physics::GeometryContactPtr::customData().

◆ setEnable()

void agxCollide::GeometryContact::setEnable ( bool flag )

Set to false to disable the contact.

Definition at line 830 of file Contacts.h.

References agx::Physics::GeometryContactPtr::enabled().

◆ state()

agx::UInt8 agxCollide::GeometryContact::state ( ) const

Returns: the current of this geometry contact (CONTACT, IMPACT)

Definition at line 888 of file Contacts.h.

References agx::Physics::GeometryContactPtr::broadPhasePair(), NO_CONTACT, and agx::Physics::BroadPhasePairPtr::state().

The documentation for this class was generated from the following file:

Contacts.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ PointType

Member Enumeration Documentation

◆ ContactState

Constructor & Destructor Documentation

◆ GeometryContact() [1/2]

◆ GeometryContact() [2/2]

Member Function Documentation

◆ calculateRelativeVelocity()

◆ calculateSurfaceVelocity() [1/2]

◆ calculateSurfaceVelocity() [2/2]

◆ clear()

◆ contains() [1/2]

◆ contains() [2/2]

◆ geometry() [1/2]

◆ geometry() [2/2]

◆ getCustomData() [1/2]

◆ getCustomData() [2/2]

◆ getMaterial() [1/3]

◆ getMaterial() [2/3]

◆ getMaterial() [3/3]

◆ hasImpactingPoints()

◆ isEnabled()

◆ points() [1/2]

◆ points() [2/2]

◆ removeContactPoint()

◆ rigidBody() [1/2]

◆ rigidBody() [2/2]

◆ setCustomData()

◆ setEnable()

◆ state()