Object
- ContactConstraint<T>

Type Parameters:

T - The PhysicsBody type

All Implemented Interfaces:

Shiftable
```
public final class ContactConstraint<T extends PhysicsBody>
extends Object
implements Shiftable
```
Represents a SolvableContact constraint for each PhysicsBody pair.

Since:

1.0.0

Version:

5.0.1

Author:

William Bittle

Field Summary

Fields
Modifier and Type	Field	Description
`protected List<SolvableContact>`	`contacts`	The `Contact`s
`protected List<SolvableContact>`	`contactsUnmodifiable`	An unmodifiable view of the `Contact`s
`protected boolean`	`enabled`	True if the contact should be evaluated
`protected double`	`friction`	The coefficient of friction
`protected Vector2`	`normal`	The penetration normal
`protected CollisionPair<CollisionItem<T,BodyFixture>>`	`pair`	The collision pair
`protected double`	`restitution`	The coefficient of restitution
`protected double`	`restitutionVelocity`	The minimum velocity at which to apply restitution
`protected boolean`	`sensor`	Whether the contact is a sensor contact or not
`protected int`	`size`	The number of contacts to solve
`protected Vector2`	`tangent`	The tangent of the normal
`protected double`	`tangentSpeed`	The surface speed of the contact patch

Constructor Summary

Constructors
Constructor Description

ContactConstraint(CollisionPair<CollisionItem<T,BodyFixture>> pair)
Full constructor.

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method	Description
`T`	`getBody(CollisionBody<?> body)`	Returns the body that matches the given body.
`T`	`getBody1()`	Returns the first `PhysicsBody`.
`T`	`getBody2()`	Returns the second `PhysicsBody`.
`CollisionPair<CollisionItem<T,BodyFixture>>`	`getCollisionPair()`	Returns the `CollisionPair`.
`List<? extends SolvedContact>`	`getContacts()`	Returns an unmodifiable list of `SolvableContact`s.
`BodyFixture`	`getFixture(CollisionBody<?> body)`	Returns the fixture for the body that matches the given body.
`BodyFixture`	`getFixture1()`	Returns the first `PhysicsBody`'s `BodyFixture`.
`BodyFixture`	`getFixture2()`	Returns the second `PhysicsBody`'s `BodyFixture`.
`double`	`getFriction()`	Returns the coefficient of friction for this contact constraint.
`Vector2`	`getNormal()`	Returns the collision normal.
`T`	`getOtherBody(CollisionBody<?> body)`	Returns the body that does not match the given body.
`BodyFixture`	`getOtherFixture(CollisionBody<?> body)`	Returns the fixture for the body that does not match the given body.
`double`	`getRestitution()`	Returns the coefficient of restitution for this contact constraint.
`double`	`getRestitutionVelocity()`	Returns the minimum velocity required for restitution to be applied.
`Vector2`	`getTangent()`	Returns the collision tangent.
`double`	`getTangentSpeed()`	Returns the surface speed of the contact constraint.
`boolean`	`isEnabled()`	Returns true if this contact constraint is enabled for processing by the collision resolution step.
`boolean`	`isSensor()`	Returns true if this `ContactConstraint` is a sensor.
`void`	`setEnabled(boolean flag)`	Sets the enabled flag.
`void`	`setFriction(double friction)`	Deprecated. Removed in 5.0.1.
`void`	`setRestitution(double restitution)`	Deprecated. Removed in 5.0.1.
`void`	`setRestitutionVelocity(double restitutionVelocity)`	Deprecated. Removed in 5.0.1.
`void`	`setSensor(boolean flag)`	Deprecated. Removed in 5.0.1.
`void`	`setTangentSpeed(double speed)`	Sets the target surface speed of the contact constraint.
`void`	`shift(Vector2 shift)`	Translates the object to match the given coordinate shift.
`String`	`toString()`
`void`	`update(Manifold manifold, Settings settings, ContactUpdateHandler handler)`	Updates this `ContactConstraint` with the new `Manifold` information and reports begin, persist, and end events to the handler.

Methods inherited from class Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - pair
```
protected final CollisionPair<CollisionItem<T extends PhysicsBody,BodyFixture>> pair
```
    The collision pair
  - contacts
```
protected final List<SolvableContact> contacts
```
    The Contacts
  - contactsUnmodifiable
```
protected final List<SolvableContact> contactsUnmodifiable
```
    An unmodifiable view of the Contacts
  - normal
```
protected final Vector2 normal
```
    The penetration normal
  - tangent
```
protected final Vector2 tangent
```
    The tangent of the normal
  - friction
```
protected double friction
```
    The coefficient of friction
  - restitution
```
protected double restitution
```
    The coefficient of restitution
  - restitutionVelocity
```
protected double restitutionVelocity
```
    The minimum velocity at which to apply restitution
  - sensor
```
protected boolean sensor
```
    Whether the contact is a sensor contact or not
  - tangentSpeed
```
protected double tangentSpeed
```
    The surface speed of the contact patch
  - enabled
```
protected boolean enabled
```
    True if the contact should be evaluated
  - size
```
protected int size
```
    The number of contacts to solve
- Constructor Detail
  - ContactConstraint
```
public ContactConstraint(CollisionPair<CollisionItem<T,BodyFixture>> pair)
```
    Full constructor.
    
    Parameters:
    
    pair - the pair
- Method Detail
  - update
```
public void update(Manifold manifold,
                   Settings settings,
                   ContactUpdateHandler handler)
```
    Updates this ContactConstraint with the new Manifold information and reports begin, persist, and end events to the handler.
    
    Parameters:
    
    manifold - the new manifold
    
    settings - the settings
    
    handler - the handler
  - toString
```
public String toString()
```
    Overrides:
    
    toString in class Object
  - shift
```
public void shift(Vector2 shift)
```
    Description copied from interface: Shiftable
    
    Translates the object to match the given coordinate shift.
    
    Specified by:
    
    shift in interface Shiftable
    
    Parameters:
    
    shift - the amount to shift along the x and y axes
  - getNormal
```
public Vector2 getNormal()
```
    Returns the collision normal.
    
    Returns:
    
    Vector2 the collision normal
  - getTangent
```
public Vector2 getTangent()
```
    Returns the collision tangent.
    
    Returns:
    
    Vector2 the collision tangent
  - getContacts
```
public List<? extends SolvedContact> getContacts()
```
    Returns an unmodifiable list of SolvableContacts.
    The contacts returned here implement the SolvedContact interface, but may not have been solved yet. This will be the case for contacts discovered at the end of a world update. In addition, when contacts are not persisted, the SolvedContact interface methods will return default values since it's technically a new contact.
    If you want the most up to date contact information, use this method inside a world listener that is triggered before the collision detection phase.
    
    Returns:
    
    List<SolvableContact> the list of SolvableContacts
  - getCollisionPair
```
public CollisionPair<CollisionItem<T,BodyFixture>> getCollisionPair()
```
    Returns the CollisionPair.
    
    Returns:
    
    CollisionPair
    
    Since:
    
    4.0.0
  - getBody1
```
public T getBody1()
```
    Returns the first PhysicsBody.
    
    Returns:
    
    PhysicsBody
  - getBody2
```
public T getBody2()
```
    Returns the second PhysicsBody.
    
    Returns:
    
    PhysicsBody
  - getFixture1
```
public BodyFixture getFixture1()
```
    Returns the first PhysicsBody's BodyFixture.
    
    Returns:
    
    BodyFixture the first PhysicsBody's BodyFixture
  - getFixture2
```
public BodyFixture getFixture2()
```
    Returns the second PhysicsBody's BodyFixture.
    
    Returns:
    
    BodyFixture the second PhysicsBody's BodyFixture
  - getBody
```
public T getBody(CollisionBody<?> body)
```
    Returns the body that matches the given body.
    If the given body is neither body1 or body2, null is returned.
    
    Parameters:
    
    body - the body
    
    Returns:
    
    T
  - getFixture
```
public BodyFixture getFixture(CollisionBody<?> body)
```
    Returns the fixture for the body that matches the given body.
    If the given body is neither body1 or body2, null is returned.
    
    Parameters:
    
    body - the body
    
    Returns:
    
    E
  - getOtherBody
```
public T getOtherBody(CollisionBody<?> body)
```
    Returns the body that does not match the given body.
    If the given body is neither body1 or body2, null is returned.
    
    Parameters:
    
    body - the body
    
    Returns:
    
    T
  - getOtherFixture
```
public BodyFixture getOtherFixture(CollisionBody<?> body)
```
    Returns the fixture for the body that does not match the given body.
    If the given body is neither body1 or body2, null is returned.
    
    Parameters:
    
    body - the body
    
    Returns:
    
    E
  - getFriction
```
public double getFriction()
```
    Returns the coefficient of friction for this contact constraint.
    
    Returns:
    
    double
  - setFriction
```
@Deprecated
public void setFriction(double friction)
```
    Deprecated.
    Removed in 5.0.1. Set the body friction coefficients instead.
    
    Sets the coefficient of friction for this contact constraint.
    
    Parameters:
    
    friction - the friction; must be 0 or greater
    
    Since:
    
    3.0.2
  - getRestitution
```
public double getRestitution()
```
    Returns the coefficient of restitution for this contact constraint.
    
    Returns:
    
    double
  - setRestitution
```
@Deprecated
public void setRestitution(double restitution)
```
    Deprecated.
    Removed in 5.0.1. Set the body restitution coefficients instead.
    
    Sets the coefficient of restitution for this contact constraint.
    
    Parameters:
    
    restitution - the restitution; must be zero or greater
    
    Since:
    
    3.0.2
  - getRestitutionVelocity
```
public double getRestitutionVelocity()
```
    Returns the minimum velocity required for restitution to be applied.
    
    Returns:
    
    double
    
    Since:
    
    4.2.0
  - setRestitutionVelocity
```
@Deprecated
public void setRestitutionVelocity(double restitutionVelocity)
```
    Deprecated.
    Removed in 5.0.1. Set the body restitution velocity instead.
    
    Sets the minimum velocity required for restitution to be applied.
    
    Parameters:
    
    restitutionVelocity - the restitution velocity
    
    Since:
    
    4.2.0
  - isSensor
```
public boolean isSensor()
```
    Returns true if this ContactConstraint is a sensor.
    
    Returns:
    
    boolean
    
    Since:
    
    1.0.1
  - setSensor
```
@Deprecated
public void setSensor(boolean flag)
```
    Deprecated.
    Removed in 5.0.1. Set the body fixture sensor flag instead.
    
    Sets this contact constraint to a sensor if flag is true.
    A sensor constraint is not solved.
    
    Parameters:
    
    flag - true if this contact constraint should be a sensor
    
    Since:
    
    3.0.2
  - getTangentSpeed
```
public double getTangentSpeed()
```
    Returns the surface speed of the contact constraint.
    This will always be zero unless specified manually. This can be used to set the target velocity at the contact to simulate a conveyor belt type effect.
    
    Returns:
    
    double
    
    Since:
    
    3.0.2
  - setTangentSpeed
```
public void setTangentSpeed(double speed)
```
    Sets the target surface speed of the contact constraint.
    The surface speed, in meters / second, is used to simulate a conveyor belt.
    A value of zero deactivates this feature, which is the default.
    NOTE: The tangent velocity of this contact constraint is retained across simulation steps. If the contact constraint is removed (because the bodies separated), then upon the bodies colliding again, the tangent velocity will be reset to it's default value.
    
    Parameters:
    
    speed - the speed in Meters / Second
    
    Since:
    
    3.0.2
  - setEnabled
```
public void setEnabled(boolean flag)
```
    Sets the enabled flag.
    A value of true would enable the contact to be processed by the collision resolution step. A value of false would disable the processing of this constraint for this step only.
    True by default.
    NOTE: The enabled state of this contact constraint is retained across simulation steps. If the contact constraint is removed (because the bodies separated), then upon the bodies colliding again, the enable state will be reset to the default.
    
    Parameters:
    
    flag - true if the contact should be enabled
    
    Since:
    
    3.3.0
  - isEnabled
```
public boolean isEnabled()
```
    Returns true if this contact constraint is enabled for processing by the collision resolution step.
    
    Returns:
    
    boolean
    
    Since:
    
    3.3.0

Class ContactConstraint<T extends PhysicsBody>

Field Summary

Constructor Summary

Method Summary

Methods inherited from class Object

Field Detail

pair

contacts

contactsUnmodifiable

normal

tangent

friction

restitution

restitutionVelocity

sensor

tangentSpeed

enabled

size

Constructor Detail

ContactConstraint

Method Detail

update

toString

shift

getNormal

getTangent

getContacts

getCollisionPair

getBody1

getBody2

getFixture1

getFixture2

getBody

getFixture

getOtherBody

getOtherFixture

getFriction

setFriction

getRestitution

setRestitution

getRestitutionVelocity

setRestitutionVelocity

isSensor

setSensor

getTangentSpeed

setTangentSpeed

setEnabled

isEnabled