Examples of org.jbox2d.collision.Manifold

org.jbox2d.collision.Manifold
A manifold for two touching convex shapes. Box2D supports multiple types of contact:
- clip point versus plane with radius
- point versus point with radius (circles)
The local point usage depends on the manifold type:
- e_circles: the local center of circleA
- e_faceA: the center of faceA
- e_faceB: the center of faceB
Similarly the local normal usage:
- e_circles: not used
- e_faceA: the normal on polygonA
- e_faceB: the normal on polygonB
We store contacts in this way so that position correction can account for movement, which is critical for continuous physics. All contact scenarios must be expressed in one of these types. This structure is stored across time steps, so we keep it small.

      final Shape shapeB = fixtureB.getShape();
      final float radiusA = shapeA.m_radius;
      final float radiusB = shapeB.m_radius;
      final Body bodyA = fixtureA.getBody();
      final Body bodyB = fixtureB.getBody();
      final Manifold manifold = contact.getManifold();


      final float friction = Settings.mixFriction(fixtureA.getFriction(), fixtureB.getFriction());
      final float restitution = Settings.mixRestitution(fixtureA.getRestitution(), fixtureB.getRestitution());


      final Vec2 vA = bodyA.m_linearVelocity;

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  }
  
  public void storeImpulses(){
    for( int i=0; i<m_constraintCount; i++){
      final ContactConstraint c = m_constraints[i];
      final Manifold m = c.manifold;
      
      for(int j=0; j< c.pointCount; j++){
        m.points[j].normalImpulse = c.points[j].normalImpulse;
        m.points[j].tangentImpulse = c.points[j].tangentImpulse;
      }

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      Shape shapeB = fixtureB.getShape();
      float radiusA = shapeA.m_radius;
      float radiusB = shapeB.m_radius;
      Body bodyA = fixtureA.getBody();
      Body bodyB = fixtureB.getBody();
      Manifold manifold = contact.getManifold();
      
      assert(manifold.pointCount > 0);
      
//      m_constraints[i] = new TOIConstraint();
      TOIConstraint constraint = m_constraints[i];

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  protected Contact(IWorldPool argPool) {
    m_fixtureA = null;
    m_fixtureB = null;
    m_nodeA = new ContactEdge();
    m_nodeB = new ContactEdge();
    m_manifold = new Manifold();
    pool = argPool;
  }

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  // djm pooling
  private static final TLManifold tloldManifold = new TLManifold();


  public void update(ContactListener listener) {


    Manifold oldManifold = tloldManifold.get();
    oldManifold.set(m_manifold);


    // Re-enable this contact.
    m_flags |= ENABLED_FLAG;


    boolean touching = false;

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      final Shape shapeB = fixtureB.getShape();
      final float radiusA = shapeA.m_radius;
      final float radiusB = shapeB.m_radius;
      final Body bodyA = fixtureA.getBody();
      final Body bodyB = fixtureB.getBody();
      final Manifold manifold = contact.getManifold();


      int pointCount = manifold.pointCount;
      assert (pointCount > 0);


      ContactVelocityConstraint vc = m_velocityConstraints[i];

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      ContactVelocityConstraint vc = m_velocityConstraints[i];
      ContactPositionConstraint pc = m_positionConstraints[i];


      float radiusA = pc.radiusA;
      float radiusB = pc.radiusB;
      Manifold manifold = m_contacts[vc.contactIndex].getManifold();


      int indexA = vc.indexA;
      int indexB = vc.indexB;


      float mA = vc.invMassA;

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  }


  public void storeImpulses () {
    for (int i = 0; i < m_count; i++) {
      final ContactVelocityConstraint vc = m_velocityConstraints[i];
      final Manifold manifold = m_contacts[vc.contactIndex].getManifold();


      for (int j = 0; j < vc.pointCount; j++) {
        manifold.points[j].normalImpulse = vc.points[j].normalImpulse;
        manifold.points[j].tangentImpulse = vc.points[j].tangentImpulse;
      }

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  protected Contact (IWorldPool argPool) {
    m_fixtureA = null;
    m_fixtureB = null;
    m_nodeA = new ContactEdge();
    m_nodeB = new ContactEdge();
    m_manifold = new Manifold();
    pool = argPool;
  }

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      final Shape shapeB = fixtureB.getShape();
      final float radiusA = shapeA.m_radius;
      final float radiusB = shapeB.m_radius;
      final Body bodyA = fixtureA.getBody();
      final Body bodyB = fixtureB.getBody();
      final Manifold manifold = contact.getManifold();


      int pointCount = manifold.pointCount;
      assert (pointCount > 0);


      ContactVelocityConstraint vc = m_velocityConstraints[i];

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Related Classes of org.jbox2d.collision.Manifold

org.jbox2d.common.Vec2

org.jbox2d.dynamics.contacts.Contact

org.jbox2d.dynamics.contacts.ContactSolver

org.jbox2d.dynamics.contacts.TOISolver

org.jbox2d.pooling.TLManifold

org.jbox2d.testbed.framework.TestbedTest

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