Package org.jbox2d.dynamics.contacts

Class ContactSolver

java.lang.Object

org.jbox2d.dynamics.contacts.ContactSolver

public class ContactSolver
extends Object

Author:

Daniel Murphy

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ContactSolver.ContactSolverDef

Field Summary

Fields

Modifier and Type	Field	Description
Contact[]	contacts
int	count
static final boolean	DEBUG_SOLVER
static final float	errorTol
static final int	INITIAL_NUM_CONSTRAINTS	For each solver, this is the initial number of constraints in the array, which expands as needed.
static final float	maxConditionNumber	Ensure a reasonable condition number. for the block solver
ContactPositionConstraint[]	positionConstraints
Position[]	positions
TimeStep	step
Velocity[]	velocities
ContactVelocityConstraint[]	velocityConstraints

Constructor Summary

Constructors

Constructor	Description
ContactSolver()

Method Summary

Modifier and Type	Method	Description
final void	init(ContactSolver.ContactSolverDef def)
final void	initializeVelocityConstraints()
final boolean	solvePositionConstraints()	Sequential solver.
boolean	solveTOIPositionConstraints(int toiIndexA, int toiIndexB)	Sequential position solver for position constraints.
final 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 Details

DEBUG_SOLVER

public static final boolean DEBUG_SOLVER

See Also:

• Constant Field Values

errorTol

public static final float 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

maxConditionNumber

public static final float maxConditionNumber

Ensure a reasonable condition number. for the block solver

See Also:

• Constant Field Values

step

public TimeStep step

positions

public Position[] positions

velocities

public Velocity[] velocities

positionConstraints

public ContactPositionConstraint[] positionConstraints

velocityConstraints

public ContactVelocityConstraint[] velocityConstraints

contacts

public Contact[] contacts

count

public int 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.

Repolink:

Github: erincatto/box2d src/dynamics/b2_contact_solver.cpp Lines 675 - 752

solveTOIPositionConstraints

public boolean solveTOIPositionConstraints(int toiIndexA,
 int toiIndexB)

Sequential position solver for position constraints.

Repolink:

Github: erincatto/box2d src/dynamics/b2_contact_solver.cpp Lines 754 - 843