com.bulletphysics.collision.narrowphase

Class PersistentManifold

java.lang.Object

com.bulletphysics.collision.narrowphase.PersistentManifold

public class PersistentManifold
extends Object

PersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. Those contact points are created by the collision narrow phase.

The cache can be empty, or hold 1, 2, 3 or 4 points. Some collision algorithms (GJK) might only add one point at a time, updates/refreshes old contact points, and throw them away if necessary (distance becomes too large).

Reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximize the area covered by the points.

Note that some pairs of objects might have more then one contact manifold.

Author:

jezek2

Field Summary

Fields

Modifier and Type	Field and Description
int	index1a
static int	MANIFOLD_CACHE_SIZE

Constructor Summary

Constructors

Constructor and Description
PersistentManifold()
PersistentManifold(Object body0, Object body1, int bla)

Method Summary

Methods

Modifier and Type	Method and Description
int	addManifoldPoint(ManifoldPoint newPoint)
void	clearManifold()
void	clearUserCache(ManifoldPoint pt)
Object	getBody0()
Object	getBody1()
int	getCacheEntry(ManifoldPoint newPoint)
float	getContactBreakingThreshold()
ManifoldPoint	getContactPoint(int index)
int	getNumContacts()
void	init(Object body0, Object body1, int bla)
void	refreshContactPoints(Transform trA, Transform trB)
void	removeContactPoint(int index)
void	replaceContactPoint(ManifoldPoint newPoint, int insertIndex)
void	setBodies(Object body0, Object body1)

Methods inherited from class java.lang.Object

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

Field Detail

MANIFOLD_CACHE_SIZE

public static final int MANIFOLD_CACHE_SIZE

See Also:

Constant Field Values

index1a

public int index1a

Constructor Detail

PersistentManifold

public PersistentManifold()

PersistentManifold

public PersistentManifold(Object body0,
                  Object body1,
                  int bla)

Method Detail

init

public void init(Object body0,
        Object body1,
        int bla)

getBody0

public Object getBody0()

getBody1

public Object getBody1()

setBodies

public void setBodies(Object body0,
             Object body1)

clearUserCache

public void clearUserCache(ManifoldPoint pt)

getNumContacts

public int getNumContacts()

getContactPoint

public ManifoldPoint getContactPoint(int index)

getContactBreakingThreshold

public float getContactBreakingThreshold()

getCacheEntry

public int getCacheEntry(ManifoldPoint newPoint)

addManifoldPoint

public int addManifoldPoint(ManifoldPoint newPoint)

removeContactPoint

public void removeContactPoint(int index)

replaceContactPoint

public void replaceContactPoint(ManifoldPoint newPoint,
                       int insertIndex)

refreshContactPoints

public void refreshContactPoints(Transform trA,
                        Transform trB)

clearManifold

public void clearManifold()