Module org.dyn4j

Package org.dyn4j.dynamics.contact

Sub package of the Dynamics package handling contacts.

Contacts are solved using an iterative constraint based approach.

Contact between bodies are tracked and solved via ContactConstraints. A contact constraint can have one or more Contacts. The ContactConstraints 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 ContactConstraints, 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 Contacts 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 a ContactConstraint.
ContactConstraintSolver<T extends PhysicsBody>	Represents an impulse/velocity based rigid PhysicsBody 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 of PhysicsBodys 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 a SolvableContact constraint for each PhysicsBody pair.
ForceCollisionTimeOfImpactSolver<T extends PhysicsBody>	Represents a position solver for a pair of Bodys 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 rigid PhysicsBody physics collision resolver.