# NewtonCollisionCollideContinue

## NewtonCollisionCollideContinue

```int NewtonCollisionCollideContinue (const NewtonWorld* newtonWorld, int maxSize, const dFloat timestep,
const NewtonCollision* collisionA, const dFloat* matrixA, const dFloat* velocA, const dFloat* omegaA,
const NewtonCollision* collisionB, const dFloat* matrixB, const dFloat* velocB, const dFloat* omegaB,
dFloat* timeOfImpact, dFloat* contacts, dFloat* normals, dFloat* penetration, int threadIndex);
```

## Usage

Calculate time of impact and contact points between two collision primitive.

## Parameters

• const NewtonWorld *newtonWorld - is the pointer to the Newton world.
• int maxSize - size of maximum number of elements in contacts, normals, and penetration.
• const dFloat timestep - maximum time interval consided for the continue collision claculation.
• const NewtonCollision *collisionA - pointer to collision primitive A.
• const dFloat *matrixA - pointer to an array of 16 floats containing the offset matrix of collision primitiveA.
• const dFloat *velocA - pointer to and array of a least 3 times maxSize floats containing the linear velocity of collision primitiveA.
• const dFloat *omegaA - pointer to and array of a least 3 times maxSize floats containing the angular velocity of collision primitiveA.
• const NewtonCollision *collisionB - pointer to collision primitive B.
• const dFloat *matrixB - pointer to an array of 16 floats containing the offset matrix of collision primitiveB.
• const dFloat *velocB - pointer to and array of a least 3 times maxSize floats containing the linear velocity of collision primitiveB.
• const dFloat *omegaB - pointer to and array of a least 3 times maxSize floats containing the angular velocity of collision primitiveB.
• dFloat *timeOfImpact - pointer to least 1 float variable to contain the time of the intersection.
• dFloat *contacts - pointer to and array of a least 3 times maxSize floats to contain the collision contact points.
• dFloat *normals - pointer to and array of a least 3 times maxSize floats to contain the collision contact normals.
• dFloat *penetration - pointer to and array of a least maxSize floats to contain the collision penetration at each contact.
• dLong* const attributeA
• dLong* const attributeB