Examples of com.bulletphysics.collision.narrowphase.PersistentManifold

Package com.bulletphysics.collision.narrowphase

Examples of com.bulletphysics.collision.narrowphase.PersistentManifold

com.bulletphysics.collision.narrowphase.PersistentManifold
PersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. Those contact points are created by the collision narrow phase.
The cache can be empty, or hold 1, 2, 3 or 4 points. Some collision algorithms (GJK) might only add one point at a time, updates/refreshes old contact points, and throw them away if necessary (distance becomes too large).
Reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximize the area covered by the points.
Note that some pairs of objects might have more then one contact manifold. @author jezek2

      //#define SPLIT_ISLANDS 1
      //#ifdef SPLIT_ISLANDS
      //#endif //SPLIT_ISLANDS


      for (i = 0; i < maxNumManifolds; i++) {
        PersistentManifold manifold = dispatcher.getManifoldByIndexInternal(i);


        CollisionObject colObj0 = (CollisionObject) manifold.getBody0();
        CollisionObject colObj1 = (CollisionObject) manifold.getBody1();


        // todo: check sleeping conditions!
        if (((colObj0 != null) && colObj0.getActivationState() != CollisionObject.ISLAND_SLEEPING) ||
            ((colObj1 != null) && colObj1.getActivationState() != CollisionObject.ISLAND_SLEEPING)) {

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