com.bulletphysics.dynamics.constraintsolver
Class ContactConstraint

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.ContactConstraint

public class ContactConstraint
extends Object

Functions for resolving contacts.

Field Summary

static ContactSolverFunc	resolveSingleCollision
static ContactSolverFunc	resolveSingleCollisionCombined
static ContactSolverFunc	resolveSingleFriction

Constructor Summary

ContactConstraint()

Method Summary

static void	resolveSingleBilateral(RigidBody body1, Vector3f pos1, RigidBody body2, Vector3f pos2, float distance, Vector3f normal, float[] impulse, float timeStep) Bilateral constraint between two dynamic objects.
static float	resolveSingleCollision(RigidBody body1, RigidBody body2, ManifoldPoint contactPoint, ContactSolverInfo solverInfo) Response between two dynamic objects with friction.
static float	resolveSingleCollisionCombined(RigidBody body1, RigidBody body2, ManifoldPoint contactPoint, ContactSolverInfo solverInfo) velocity + friction response between two dynamic objects with friction
static float	resolveSingleFriction(RigidBody body1, RigidBody body2, ManifoldPoint contactPoint, ContactSolverInfo solverInfo)
static float	resolveSingleFrictionEmpty(RigidBody body1, RigidBody body2, ManifoldPoint contactPoint, ContactSolverInfo solverInfo)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

resolveSingleCollision

public static final ContactSolverFunc resolveSingleCollision

resolveSingleFriction

public static final ContactSolverFunc resolveSingleFriction

resolveSingleCollisionCombined

public static final ContactSolverFunc resolveSingleCollisionCombined

Constructor Detail

ContactConstraint

public ContactConstraint()

Method Detail

resolveSingleBilateral

public static void resolveSingleBilateral(RigidBody body1,
                                          Vector3f pos1,
                                          RigidBody body2,
                                          Vector3f pos2,
                                          float distance,
                                          Vector3f normal,
                                          float[] impulse,
                                          float timeStep)

Bilateral constraint between two dynamic objects.

resolveSingleCollision

public static float resolveSingleCollision(RigidBody body1,
                                           RigidBody body2,
                                           ManifoldPoint contactPoint,
                                           ContactSolverInfo solverInfo)

Response between two dynamic objects with friction.

resolveSingleFriction

public static float resolveSingleFriction(RigidBody body1,
                                          RigidBody body2,
                                          ManifoldPoint contactPoint,
                                          ContactSolverInfo solverInfo)

resolveSingleCollisionCombined

public static float resolveSingleCollisionCombined(RigidBody body1,
                                                   RigidBody body2,
                                                   ManifoldPoint contactPoint,
                                                   ContactSolverInfo solverInfo)

velocity + friction
response between two dynamic objects with friction

resolveSingleFrictionEmpty

public static float resolveSingleFrictionEmpty(RigidBody body1,
                                               RigidBody body2,
                                               ManifoldPoint contactPoint,
                                               ContactSolverInfo solverInfo)