8The Collision Module
The aim of this chapter is to drill down into some of the Box2D Collision Module code that you probably don’t need to mess with in the normal course of making a game with Box2D. It’s here for the curious and for the advanced programmer who needs to get more features of more performance out of Box2D by messing with its internals.
● 8.1 Contacts and Manifolds
Section 6.3.1 gave us a quick peek into Box2D contact manifolds, which, you will recall, are a discrete approximation to a continuous region of contact. Now it’s time to look into contacts and contact manifolds more carefully. Let’s do this bottom-up, starting with the most basic structures in b2Collision.h and moving up to more complicated ones.
A contact feature is ...
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