org.jbox2d.dynamics.contacts
Class ContactSolver

java.lang.Object
  extended by org.jbox2d.dynamics.contacts.ContactSolver

public class ContactSolver
extends Object

Author:
Daniel

Field Summary
static int INITIAL_NUM_CONSTRAINTS
          For each solver, this is the initial number of constraints in the array, which expands as needed.
static float k_maxConditionNumber
          Ensure a reasonable condition number.
 int m_constraintCount
           
 ContactConstraint[] m_constraints
           
 
Constructor Summary
ContactSolver()
           
 
Method Summary
 void init(Contact[] contacts, int contactCount, float impulseRatio)
           
 boolean solvePositionConstraints(float baumgarte)
          Sequential solver.
 void solveVelocityConstraints()
           
 void storeImpulses()
           
 void warmStart()
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

INITIAL_NUM_CONSTRAINTS

public static final int INITIAL_NUM_CONSTRAINTS
For each solver, this is the initial number of constraints in the array, which expands as needed.

See Also:
Constant Field Values

k_maxConditionNumber

public static final float k_maxConditionNumber
Ensure a reasonable condition number. for the block solver

See Also:
Constant Field Values

m_constraints

public ContactConstraint[] m_constraints

m_constraintCount

public int m_constraintCount
Constructor Detail

ContactSolver

public ContactSolver()
Method Detail

init

public final void init(Contact[] contacts,
                       int contactCount,
                       float impulseRatio)

warmStart

public void warmStart()

solveVelocityConstraints

public final void solveVelocityConstraints()

storeImpulses

public void storeImpulses()

solvePositionConstraints

public final boolean solvePositionConstraints(float baumgarte)
Sequential solver.



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