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.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 ContactConstraint<T extends PhysicsBody> Represents aSolvableContact
constraint for eachPhysicsBody
pair.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.SequentialImpulses<T extends PhysicsBody> Represents an impulse based rigidPhysicsBody
physics collision resolver.