Class ManifoldPoint

java.lang.Object
org.jbox2d.collision.ManifoldPoint
public class ManifoldPoint extends java.lang.Object
A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type:
  • e_circles: the local center of circleB
  • e_faceA: the local center of cirlceB or the clip point of polygonB
  • e_faceB: the clip point of polygonA
This structure is stored across time steps, so we keep it small.
Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final ContactID
    id
    uniquely identifies a contact point between two shapes
    final Vec2
    localPoint
    usage depends on manifold type
    float
    normalImpulse
    the non-penetration impulse
    float
    tangentImpulse
    the friction impulse

  • Constructor Summary

    Constructors
    Constructor
    Description
    ManifoldPoint()
    Blank manifold point with everything zeroed out.
    ManifoldPoint(ManifoldPoint cp)
    Creates a manifold point as a copy of the given point

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    set(ManifoldPoint cp)
    Sets this manifold point form the given one

    Methods inherited from class java.lang.Object

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

  • Field Details

    • localPoint

      public final Vec2 localPoint
      usage depends on manifold type

    • normalImpulse

      public float normalImpulse
      the non-penetration impulse

    • tangentImpulse

      public float tangentImpulse
      the friction impulse

    • id

      public final ContactID id
      uniquely identifies a contact point between two shapes

  • Constructor Details

    • ManifoldPoint

      public ManifoldPoint()
      Blank manifold point with everything zeroed out.

    • ManifoldPoint

      public ManifoldPoint(ManifoldPoint cp)
      Creates a manifold point as a copy of the given point
      Parameters:
      cp - point to copy from

  • Method Details

    • set

      public void set(ManifoldPoint cp)
      Sets this manifold point form the given one
      Parameters:
      cp - the point to copy from