19 _contact_geom.pos[2]);
25 _contact_geom.normal[1],
26 _contact_geom.normal[2]);
29 INLINE dReal OdeContactGeom::
31 return _contact_geom.depth;
36 return OdeGeom(_contact_geom.g1);
41 return OdeGeom(_contact_geom.g2);
44 INLINE
int OdeContactGeom::
46 return _contact_geom.side1;
49 INLINE
int OdeContactGeom::
51 return _contact_geom.side2;
54 INLINE
void OdeContactGeom::
56 _contact_geom.pos[0] = pos[0];
57 _contact_geom.pos[1] = pos[1];
58 _contact_geom.pos[2] = pos[2];
61 INLINE
void OdeContactGeom::
63 _contact_geom.normal[0] = normal[0];
64 _contact_geom.normal[1] = normal[1];
65 _contact_geom.normal[2] = normal[2];
68 INLINE
void OdeContactGeom::
69 set_depth(
const dReal depth){
70 _contact_geom.depth = depth;
73 INLINE
void OdeContactGeom::
75 _contact_geom.g1 = geom._id;
78 INLINE
void OdeContactGeom::
80 _contact_geom.g2 = geom._id;
This is the base class for all three-component vectors and points.