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.

      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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  private final PointState[] state1 = new PointState[Settings.maxManifoldPoints];
  private final PointState[] state2 = new PointState[Settings.maxManifoldPoints];
  private final WorldManifold worldManifold = new WorldManifold();


  public void preSolve(Contact contact, Manifold oldManifold) {
    Manifold manifold = contact.getManifold();


    if (manifold.pointCount == 0) {
      return;
    }

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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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