Module org.dyn4j

Package org.dyn4j.collision.manifold

Class ClippingManifoldSolver

Object

ClippingManifoldSolver

All Implemented Interfaces:

ManifoldSolver

public class ClippingManifoldSolver
extends Object
implements ManifoldSolver

Implementation of a Sutherland-Hodgman clipping ManifoldSolver algorithm.

A NarrowphaseDetector should return a penetration normal and depth when two Convex Shapes are intersecting. The penetration normal should always point from the first Shape to the second. Using the Penetration, this class will find the closest features and perform a series of clipping operations to build a contact Manifold.

In the case that a Convex Shape returns a PointFeature Feature, that feature will always take precedence.

It's possible that no contact points are returned, in which case the getManifold(Penetration, Convex, Transform, Convex, Transform, Manifold) method will return false.

Since:

1.0.0

Version:

4.2.1

Author:

William Bittle

See Also:

Contact Points Using Clipping

Constructor Summary

Constructors

Constructor	Description
ClippingManifoldSolver()

Method Summary

Modifier and Type	Method	Description
protected List<PointFeature>	clip(PointFeature v1, PointFeature v2, Vector2 n, double offset)	Clips the segment given by s1 and s2 by n.
boolean	getManifold(Penetration penetration, Convex convex1, Transform transform1, Convex convex2, Transform transform2, Manifold manifold)	Returns true if there exists a valid contact manifold between the two Convex Shapes.

Methods inherited from class Object

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

Constructor Detail

ClippingManifoldSolver

public ClippingManifoldSolver()

Method Detail

getManifold

public boolean getManifold(Penetration penetration,
                           Convex convex1,
                           Transform transform1,
                           Convex convex2,
                           Transform transform2,
                           Manifold manifold)

Description copied from interface: ManifoldSolver

Returns true if there exists a valid contact manifold between the two Convex Shapes.

When returning true, this method fills in the Manifold object with the points, depth, and normal.

The Penetration object will be left unchanged by this method.

NOTE: It's the responsibility of the caller to clear the given Manifold object before calling this method.

Specified by:

getManifold in interface ManifoldSolver

Parameters:

penetration - the Penetration

convex1 - the first Convex Shape

transform1 - the first Shape's Transform

convex2 - the second Convex Shape

transform2 - the second Shape's Transform

manifold - the Manifold object to fill

Returns:

boolean

clip

protected List<PointFeature> clip(PointFeature v1,
                                  PointFeature v2,
                                  Vector2 n,
                                  double offset)

Clips the segment given by s1 and s2 by n.

Parameters:

v1 - the first vertex of the segment to be clipped

v2 - the second vertex of the segment to be clipped

n - the clipping plane/line

offset - the offset of the end point of the segment to be clipped

Returns:

List<Vector2> the clipped segment