Class ContactSolver

java.lang.Object
org.jbox2d.dynamics.contacts.ContactSolver

public class ContactSolver extends java.lang.Object
  • 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
    • 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 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)