Box2D
2.4.1
A 2D physics engine for games

This is used to compute the current state of a contact manifold. More...
#include <b2_collision.h>
Public Member Functions  
void  Initialize (const b2Manifold *manifold, const b2Transform &xfA, float radiusA, const b2Transform &xfB, float radiusB) 
Public Attributes  
b2Vec2  normal 
world vector pointing from A to B  
b2Vec2  points [b2_maxManifoldPoints] 
world contact point (point of intersection)  
float  separations [b2_maxManifoldPoints] 
a negative value indicates overlap, in meters  
This is used to compute the current state of a contact manifold.
void b2WorldManifold::Initialize  (  const b2Manifold *  manifold, 
const b2Transform &  xfA,  
float  radiusA,  
const b2Transform &  xfB,  
float  radiusB  
) 
Evaluate the manifold with supplied transforms. This assumes modest motion from the original state. This does not change the point count, impulses, etc. The radii must come from the shapes that generated the manifold.