Module org.dyn4j


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.

William Bittle