Package org.jbox2d.collision

Class ManifoldPoint

java.lang.Object
org.jbox2d.collision.ManifoldPoint
public class ManifoldPoint extends 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:
  • circles: the local center of circleB
  • faceA: the local center of circleB or the clip point of polygonB
  • 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.
Author:
Daniel Murphy

  • 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 - The 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.