An axis aligned bounding box.
Used for computing contact manifolds.
The features that intersect to form the contact point
This must be 4 bytes or less.
Contact ids to facilitate warm starting.
A manifold for two touching convex shapes.
Box2D supports multiple types of contact:
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.
The local point usage depends on the manifold type:
-e_circles: the local center of circle_b
-e_faceA: the local center of cirlceB or the clip point of polygon_b
-e_faceB: the clip point of polygon_a
This structure is stored across time steps, so we keep it small.
Note: the impulses are used for internal caching and may not
provide reliable contact forces, especially for high speed collisions.
Ray-cast input data. The ray extends from p1 to p1 + max_fraction * (p2 - p1).
Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2
come from b2RayCastInput.
This is used to compute the current state of a contact manifold.