Package org.jbox2d.dynamics.contacts

Class ContactSolver

java.lang.Object

org.jbox2d.dynamics.contacts.ContactSolver

public class ContactSolver
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ContactSolver.ContactSolverDef

Field Summary

Fields

Modifier and Type	Field	Description
private Vec2	a
private Vec2	b
private Vec2	d
static boolean	DEBUG_SOLVER
private Vec2	dv1
private Vec2	dv2
static int	INITIAL_NUM_CONSTRAINTS	For each solver, this is the initial number of constraints in the array, which expands as needed.
static float	k_errorTol
static float	k_maxConditionNumber	Ensure a reasonable condition number.
Contact[]	m_contacts
int	m_count
ContactPositionConstraint[]	m_positionConstraints
Position[]	m_positions
TimeStep	m_step
Velocity[]	m_velocities
ContactVelocityConstraint[]	m_velocityConstraints
private Vec2	P
private Vec2	P1
private Vec2	P2
private PositionSolverManifold	psolver
private Vec2	rA
private Vec2	rB
private Vec2	tangent
private Vec2	temp
private Vec2	temp1
private Vec2	temp2
private WorldManifold	worldManifold
private Vec2	x
private Transform	xfA
private Transform	xfB

Constructor Summary

Constructors

Constructor	Description
ContactSolver()

Method Summary

Modifier and Type	Method	Description
void	init(ContactSolver.ContactSolverDef def)
void	initializeVelocityConstraints()
boolean	solvePositionConstraints()	Sequential solver.
boolean	solveTOIPositionConstraints(int toiIndexA, int toiIndexB)
void	solveVelocityConstraints()
void	storeImpulses()
void	warmStart()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEBUG_SOLVER

public static final boolean DEBUG_SOLVER

See Also:

Constant Field Values

k_errorTol

public static final float k_errorTol

See Also:

Constant Field Values

INITIAL_NUM_CONSTRAINTS

public static final int INITIAL_NUM_CONSTRAINTS

For each solver, this is the initial number of constraints in the array, which expands as needed.

See Also:

Constant Field Values

k_maxConditionNumber

public static final float k_maxConditionNumber

Ensure a reasonable condition number. for the block solver

See Also:

Constant Field Values

m_step

public TimeStep m_step

m_positions

public Position[] m_positions

m_velocities

public Velocity[] m_velocities

m_positionConstraints

public ContactPositionConstraint[] m_positionConstraints

m_velocityConstraints

public ContactVelocityConstraint[] m_velocityConstraints

m_contacts

public Contact[] m_contacts

m_count

public int m_count

tangent

private final Vec2 tangent

temp1

private final Vec2 temp1

temp2

private final Vec2 temp2

P

private final Vec2 P

temp

private final Vec2 temp

xfA

private final Transform xfA

xfB

private final Transform xfB

worldManifold

private final WorldManifold worldManifold

a

private final Vec2 a

b

private final Vec2 b

dv1

private final Vec2 dv1

dv2

private final Vec2 dv2

x

private final Vec2 x

d

private final Vec2 d

P1

private final Vec2 P1

P2

private final Vec2 P2

psolver

private final PositionSolverManifold psolver

rA

private final Vec2 rA

rB

private final Vec2 rB

Constructor Detail

ContactSolver

public ContactSolver()

Method Detail

init

public final void init(ContactSolver.ContactSolverDef def)

warmStart

public void warmStart()

initializeVelocityConstraints

public final void initializeVelocityConstraints()

solveVelocityConstraints

public final void solveVelocityConstraints()

storeImpulses

public void storeImpulses()

solvePositionConstraints

public final boolean solvePositionConstraints()

Sequential solver.

solveTOIPositionConstraints

public boolean solveTOIPositionConstraints(int toiIndexA,
                                           int toiIndexB)