Package org.dyn4j.dynamics.contact
Contacts are solved using an iterative constraint based approach.
Contact between bodies are tracked and solved via
ContactConstraint
s. A contact constraint can
have one or more Contact
s. The
ContactConstraint
s are then used in a
ContactConstraintSolver
to resolve the
collisions in a physical way.
SequentialImpulses
is the only implementation
of the ContactConstraintSolver
.
In addition to solving the ContactConstraint
s,
they can be updated to facilitate warm starting the solver. Warm starting provides
a way to jump start the solving with last frame's solution to decrease the time
required to achieve solution convergence.
During the update process, notifications of begin, end, persisted
Contact
s
are generated through the ContactUpdateHandler
.
- Since:
- 1.0.0
- Version:
- 4.0.0
- Author:
- William Bittle
-
Interface Summary Interface Description Contact Represents a contact of aContactConstraint
.ContactConstraintSolver<T extends PhysicsBody> Represents an impulse/velocity based rigidPhysicsBody
collision resolver.ContactListener Deprecated. Deprecated in 4.0.0.ContactManager Deprecated. Deprecated in 4.0.0.ContactUpdateHandler This interface defines the mechanism to report begin, persist, and end events and the method of mixing the friction and restitution coefficients.SolvedContact Represents a contact that has been solved.TimeOfImpactSolver<T extends PhysicsBody> Represents a position solver for a pair ofPhysicsBody
s who came in contact during a time step but where not detected by the discrete collision detectors. -
Class Summary Class Description ContactAdapter Deprecated. Deprecated in 4.0.0.ContactConstraint<T extends PhysicsBody> Represents aSolvableContact
constraint for eachPhysicsBody
pair.ContactConstraintId Deprecated. Deprecated in 4.0.0.ContactPoint Deprecated. Deprecated in 4.0.0.ContactPointId Deprecated. Deprecated in 4.0.0.DefaultContactManager Deprecated. Deprecated in 4.0.0.ForceCollisionTimeOfImpactSolver<T extends PhysicsBody> Represents a position solver for a pair ofBody
s who came in contact during a time step but where not detected by the discrete collision detectors.PersistedContactPoint Deprecated. Deprecated in 4.0.0.SequentialImpulses<T extends PhysicsBody> Represents an impulse based rigidPhysicsBody
physics collision resolver.SimpleContactManager Deprecated. UseDefaultContactManager
insteadSolvedContactPoint Deprecated. Deprecated in 4.0.0.WarmStartingContactManager Deprecated. UseDefaultContactManager
instead