org.jbox2d.collision
Class ManifoldPoint

java.lang.Object
  extended by org.jbox2d.collision.ManifoldPoint

public class ManifoldPoint
extends java.lang.Object

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 point is stored in local coordinates because CCD requires sub-stepping in which the separation is stale.


Field Summary
 ContactID id
          Uniquely identifies a contact point between two shapes
 Vec2 localPoint1
          Local position of the contact point in body1
 Vec2 localPoint2
          Local position of the contact point in body2
 float normalImpulse
          The non-penetration force
 float separation
          The separation of the shapes along the normal vector
 float tangentImpulse
          The friction force
 
Constructor Summary
ManifoldPoint()
           
ManifoldPoint(ManifoldPoint cp)
           
 
Method Summary
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

localPoint1

public Vec2 localPoint1
Local position of the contact point in body1


localPoint2

public Vec2 localPoint2
Local position of the contact point in body2


separation

public float separation
The separation of the shapes along the normal vector


normalImpulse

public float normalImpulse
The non-penetration force


tangentImpulse

public float tangentImpulse
The friction force


id

public ContactID id
Uniquely identifies a contact point between two shapes

Constructor Detail

ManifoldPoint

public ManifoldPoint()

ManifoldPoint

public ManifoldPoint(ManifoldPoint cp)