org.jbox2d.dynamics.contacts

Class ContactSolver

java.lang.Object

org.jbox2d.dynamics.contacts.ContactSolver

public class ContactSolver
extends java.lang.Object

Author:

Daniel

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ContactSolver.ContactSolverDef

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	DEBUG_SOLVER
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

Constructor Summary

Constructors

Constructor and Description
ContactSolver()

Method Summary

Modifier and Type	Method and 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

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)