Contacts are solved using an iterative constraint based approach.
Contact between bodies are tracked and solved via
ContactConstraints. A contact constraint can
have one or more
ContactConstraints are then used in a
ContactConstraintSolver to resolve the
collisions in a physical way.
In addition to solving the
they can be updated to facilitate warm starting the solver. Warm starting provides
a way to jump start the solving with last frame's solution to decrease the time
required to achieve solution convergence.
- William Bittle
Interface Summary Interface Description ContactRepresents a contact of a
ContactConstraintSolver<T extends PhysicsBody>Represents an impulse/velocity based rigid
ContactListener Deprecated.Deprecated in 4.0.0. ContactManager Deprecated.Deprecated in 4.0.0. ContactUpdateHandlerThis interface defines the mechanism to report begin, persist, and end events and the method of mixing the friction and restitution coefficients. SolvedContactRepresents a contact that has been solved. TimeOfImpactSolver<T extends PhysicsBody>Represents a position solver for a pair of
PhysicsBodys who came in contact during a time step but where not detected by the discrete collision detectors.
Class Summary Class Description ContactAdapter Deprecated.Deprecated in 4.0.0. ContactConstraint<T extends PhysicsBody>Represents a
SolvableContactconstraint for each
ContactConstraintId Deprecated.Deprecated in 4.0.0. ContactPoint Deprecated.Deprecated in 4.0.0. ContactPointId Deprecated.Deprecated in 4.0.0. DefaultContactManager Deprecated.Deprecated in 4.0.0. ForceCollisionTimeOfImpactSolver<T extends PhysicsBody>Represents a position solver for a pair of
Bodys who came in contact during a time step but where not detected by the discrete collision detectors.
PersistedContactPoint Deprecated.Deprecated in 4.0.0. SequentialImpulses<T extends PhysicsBody>Represents an impulse based rigid
PhysicsBodyphysics collision resolver.
SolvedContactPoint Deprecated.Deprecated in 4.0.0. WarmStartingContactManager Deprecated.Use