Class ContactSolver

java.lang.Object
org.jbox2d.dynamics.contacts.ContactSolver
public class ContactSolver extends Object
Author:
Daniel

  • Field Details

    • DEBUG_SOLVER

      public static final boolean DEBUG_SOLVER
      See Also:

    • k_errorTol

      public static final float k_errorTol
      See Also:

    • 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:

    • k_maxConditionNumber

      public static final float k_maxConditionNumber
      Ensure a reasonable condition number. for the block solver
      See Also:

    • 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

  • Constructor Details

    • ContactSolver

      public ContactSolver()

  • Method Details

    • 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)