Examples of org.jbox2d.collision.ManifoldPoint

org.jbox2d.collision.ManifoldPoint
A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type:
- e_circles: the local center of circleB
- e_faceA: the local center of cirlceB or the clip point of polygonB
- e_faceB: the clip point of polygonA
This structure is stored across time steps, so we keep it small.
Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions.

      touching = m_manifold.pointCount > 0;


      // Match old contact ids to new contact ids and copy the
      // stored impulses to warm start the solver.
      for (int i = 0; i < m_manifold.pointCount; ++i) {
        ManifoldPoint mp2 = m_manifold.points[i];
        mp2.normalImpulse = 0.0f;
        mp2.tangentImpulse = 0.0f;
        ContactID id2 = mp2.id;


        for (int j = 0; j < oldManifold.pointCount; ++j) {
          ManifoldPoint mp1 = oldManifold.points[j];


          if (mp1.id.isEqual(id2)) {
            mp2.normalImpulse = mp1.normalImpulse;
            mp2.tangentImpulse = mp1.tangentImpulse;
            break;

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      pc.radiusB = radiusB;
      pc.type = manifold.type;


      // System.out.println("contact point count: " + pointCount);
      for (int j = 0; j < pointCount; j++) {
        ManifoldPoint cp = manifold.points[j];
        VelocityConstraintPoint vcp = vc.points[j];


        if (m_step.warmStarting) {
          // assert(cp.normalImpulse == 0);
          // System.out.println("contact normal impulse: " + cp.normalImpulse);

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      touching = m_manifold.pointCount > 0;


      // Match old contact ids to new contact ids and copy the
      // stored impulses to warm start the solver.
      for (int i = 0; i < m_manifold.pointCount; ++i) {
        ManifoldPoint mp2 = m_manifold.points[i];
        mp2.normalImpulse = 0.0f;
        mp2.tangentImpulse = 0.0f;
        ContactID id2 = mp2.id;


        for (int j = 0; j < oldManifold.pointCount; ++j) {
          ManifoldPoint mp1 = oldManifold.points[j];


          if (mp1.id.isEqual(id2)) {
            mp2.normalImpulse = mp1.normalImpulse;
            mp2.tangentImpulse = mp1.tangentImpulse;
            break;

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      pc.radiusB = radiusB;
      pc.type = manifold.type;


      // System.out.println("contact point count: " + pointCount);
      for (int j = 0; j < pointCount; j++) {
        ManifoldPoint cp = manifold.points[j];
        VelocityConstraintPoint vcp = vc.points[j];


        if (m_step.warmStarting) {
          // assert(cp.normalImpulse == 0);
          // System.out.println("contact normal impulse: " + cp.normalImpulse);

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      cc.localPoint.y = manifold.localPoint.y;
      cc.radius = radiusA + radiusB;
      cc.type = manifold.type;


      for (int j = 0; j < cc.pointCount; ++j){
        final ManifoldPoint cp = manifold.points[j];
        final ContactConstraintPoint ccp = cc.points[j];


        ccp.normalImpulse = impulseRatio * cp.normalImpulse;
        ccp.tangentImpulse = impulseRatio * cp.tangentImpulse;
        ccp.localPoint.x = cp.localPoint.x;

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      constraint.type = manifold.type;
      constraint.pointCount = manifold.pointCount;
      constraint.radius = radiusA + radiusB;


      for (int j = 0; j < constraint.pointCount; ++j){
        ManifoldPoint cp = manifold.points[j];
        constraint.localPoints[j] = cp.localPoint;
      }
    }
  }

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      touching = m_manifold.pointCount > 0;


      // Match old contact ids to new contact ids and copy the
      // stored impulses to warm start the solver.
      for (int i = 0; i < m_manifold.pointCount; ++i) {
        ManifoldPoint mp2 = m_manifold.points[i];
        mp2.normalImpulse = 0.0f;
        mp2.tangentImpulse = 0.0f;
        ContactID id2 = mp2.id;


        for (int j = 0; j < oldManifold.pointCount; ++j) {
          ManifoldPoint mp1 = oldManifold.points[j];


          if (mp1.id.isEqual(id2)) {
            mp2.normalImpulse = mp1.normalImpulse;
            mp2.tangentImpulse = mp1.tangentImpulse;
            break;

View Full Code Here

      pc.radiusB = radiusB;
      pc.type = manifold.type;


      // System.out.println("contact point count: " + pointCount);
      for (int j = 0; j < pointCount; j++) {
        ManifoldPoint cp = manifold.points[j];
        VelocityConstraintPoint vcp = vc.points[j];


        if (m_step.warmStarting) {
          // assert(cp.normalImpulse == 0);
          // System.out.println("contact normal impulse: " + cp.normalImpulse);

View Full Code Here

      touching = m_manifold.pointCount > 0;


      // Match old contact ids to new contact ids and copy the
      // stored impulses to warm start the solver.
      for (int i = 0; i < m_manifold.pointCount; ++i) {
        ManifoldPoint mp2 = m_manifold.points[i];
        mp2.normalImpulse = 0.0f;
        mp2.tangentImpulse = 0.0f;
        ContactID id2 = mp2.id;


        for (int j = 0; j < oldManifold.pointCount; ++j) {
          ManifoldPoint mp1 = oldManifold.points[j];


          if (mp1.id.isEqual(id2)) {
            mp2.normalImpulse = mp1.normalImpulse;
            mp2.tangentImpulse = mp1.tangentImpulse;
            break;

View Full Code Here

      pc.radiusB = radiusB;
      pc.type = manifold.type;


      // System.out.println("contact point count: " + pointCount);
      for (int j = 0; j < pointCount; j++) {
        ManifoldPoint cp = manifold.points[j];
        VelocityConstraintPoint vcp = vc.points[j];


        if (m_step.warmStarting) {
// assert(cp.normalImpulse == 0);
          // System.out.println("contact normal impulse: " + cp.normalImpulse);

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Related Classes of org.jbox2d.collision.ManifoldPoint

org.jbox2d.common.Vec2

org.jbox2d.dynamics.contacts.Contact

org.jbox2d.dynamics.contacts.ContactSolver

org.jbox2d.dynamics.contacts.TOISolver

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