Contacts are solved using an iterative constraint based approach.
World object will determine all collisions between the
Bodys and will turn each
Manifold into a
ContactConstraint. Once all the
ContactConstraints have been gathered the
World object will perform a depth first search on the
ContactConstraint graph to yield
islands. The islands will
DefaultContactManager to warm start the
ContactConstraints and then use the
SequentialImpulses to solve them.
ContactListener can be used to receive
notifications of sensed, begin, end, persisted, and pre/post solve events.
Represents an impulse/velocity based rigid
Represents an object that is notified of contact events.
Represents a contact point between two
Convenience class for implementing the
Represents a contact point and used to report events via the
Represents a contact point id to identify contacts from frame to frame.
Represents the default contact manager that reports beginning, persisted, and ending contacts and performs warm starting by default.
Represents a persisted contact point.
Represents an impulse based rigid
Represents a solved contact point.
Represents a position solver for a pair of