Package org.jbox2d.dynamics.contacts
Class ContactSolver
java.lang.Object
org.jbox2d.dynamics.contacts.ContactSolver
public class ContactSolver
extends java.lang.Object
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Nested Class Summary
Nested Classes -
Field Summary
FieldsModifier and TypeFieldDescriptionprivate final Vec2
private final Vec2
private final Vec2
static final boolean
private final Vec2
private final Vec2
static final int
For each solver, this is the initial number of constraints in the array, which expands as needed.static final float
static final float
Ensure a reasonable condition number.Contact[]
int
Position[]
Velocity[]
private final Vec2
private final Vec2
private final Vec2
private final PositionSolverManifold
private final Vec2
private final Vec2
private final Vec2
private final Vec2
private final Vec2
private final Vec2
private final WorldManifold
private final Vec2
private final Transform
private final Transform
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionfinal void
final void
final boolean
Sequential solver.boolean
solveTOIPositionConstraints
(int toiIndexA, int toiIndexB) final void
void
void
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Field Details
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DEBUG_SOLVER
public static final boolean DEBUG_SOLVER- See Also:
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k_errorTol
public static final float k_errorTol- See Also:
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INITIAL_NUM_CONSTRAINTS
public static final int INITIAL_NUM_CONSTRAINTSFor each solver, this is the initial number of constraints in the array, which expands as needed.- See Also:
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k_maxConditionNumber
public static final float k_maxConditionNumberEnsure a reasonable condition number. for the block solver- See Also:
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m_step
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m_positions
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m_velocities
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m_positionConstraints
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m_velocityConstraints
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m_contacts
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m_count
public int m_count -
tangent
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temp1
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temp2
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P
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temp
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xfA
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xfB
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worldManifold
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a
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b
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dv1
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dv2
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x
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d
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P1
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P2
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psolver
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rA
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rB
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Constructor Details
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ContactSolver
public ContactSolver()
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Method Details
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init
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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)
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