Arbiter

class Arbiter(a: TranslatableBody, b: TranslatableBody)

Creates manifolds to detect collisions and apply forces to them. Discrete in nature and only evaluates pairs of bodies in a single manifold.

Constructors

Arbiter

fun Arbiter(a: TranslatableBody, b: TranslatableBody)

Types

Companion

object Companion

Functions

narrowPhase

fun narrowPhase()

Conducts a narrow phase detection and creates a contact manifold.

penetrationResolution

fun penetrationResolution()

Resolves any penetrations that are left overlapping between shapes. This can be cause due to integration errors of the solvers integration method. Based on linear projection to move the shapes away from each other based on a correction constant and scaled relative to the inverse mass of the objects.

solve

fun solve()

Solves the current contact manifold and applies impulses based on any contacts found.

Properties

val a: TranslatableBody

Getter for Body A.

val b: TranslatableBody

Getter for Body B.

contactCount

var contactCount: Int = 0

contactNormal

var contactNormal: Vec2

contacts

val contacts: Array<Vec2>

Array to save the contact points of the objects body's in world space.

restitution

var restitution: Double = 0.0