org.dyn4j.dynamics.contact.SolvedContactPoint Maven / Gradle / Ivy
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* Copyright (c) 2010-2020 William Bittle http://www.dyn4j.org/
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package org.dyn4j.dynamics.contact;
import org.dyn4j.dynamics.Body;
import org.dyn4j.dynamics.BodyFixture;
import org.dyn4j.geometry.Vector2;
/**
* Represents a solved contact point.
*
* A solved contact point is a contact that has been handled by the
* contact constraint solver and therefore has the normal and tangential
* impulses computed.
* @author William Bittle
* @see ContactPoint
* @version 4.0.0
* @since 1.0.0
* @deprecated Deprecated in 4.0.0. Use the {@link SolvedContact} interface instead.
*/
@Deprecated
public class SolvedContactPoint extends ContactPoint {
/** The accumulated normal impulse */
protected final double normalImpulse;
/** The accumulated tangential impulse */
protected final double tangentialImpulse;
/**
* Full constructor.
* @param id the contact point id
* @param body1 the first {@link Body} in contact
* @param fixture1 the first {@link Body}'s {@link BodyFixture}
* @param body2 the second {@link Body} in contact
* @param fixture2 the second {@link Body}'s {@link BodyFixture}
* @param point the world space contact point
* @param normal the world space contact normal
* @param depth the penetration depth
* @param normalImpulse the accumulated normal impulse
* @param tangentialImpulse the accumulated tangential impulse
*/
public SolvedContactPoint(ContactPointId id,
Body body1, BodyFixture fixture1, Body body2, BodyFixture fixture2,
Vector2 point, Vector2 normal, double depth,
double normalImpulse, double tangentialImpulse) {
super(id, body1, fixture1, body2, fixture2, point, normal, depth, false);
this.normalImpulse = normalImpulse;
this.tangentialImpulse = tangentialImpulse;
}
/**
* Helper constructor for a contact constraint and contact.
* @param constraint the constraint
* @param contact the contact
*/
@SuppressWarnings({ "rawtypes", "unchecked" })
public SolvedContactPoint(ContactConstraint constraint, SolvableContact contact) {
super(constraint, contact);
this.normalImpulse = contact.jn;
this.tangentialImpulse = contact.jt;
}
/* (non-Javadoc)
* @see java.lang.Object#toString()
*/
@Override
public String toString() {
StringBuilder sb = new StringBuilder();
sb.append("SolvedContactPoint[Id=").append(this.id)
.append("|Body1=").append(this.body1.hashCode())
.append("|Fixture1=").append(this.fixture1.hashCode())
.append("|Body2=").append(this.body2.hashCode())
.append("|Fixture2=").append(this.fixture2.hashCode())
.append("|Point=").append(this.point)
.append("|Normal=").append(this.normal)
.append("|Depth=").append(this.depth)
.append("|NormalImpulse=").append(this.normalImpulse)
.append("|TangentImpulse=").append(this.tangentialImpulse)
.append("]");
return sb.toString();
}
/**
* Copy constructor (shallow).
* @param scp the {@link SolvedContactPoint} to copy
*/
public SolvedContactPoint(SolvedContactPoint scp) {
super(scp);
this.normalImpulse = scp.normalImpulse;
this.tangentialImpulse = scp.tangentialImpulse;
}
/**
* Returns the accumulated normal impulse.
* @return double
*/
public double getNormalImpulse() {
return this.normalImpulse;
}
/**
* Returns the accumulated tangential impulse.
* @return double
*/
public double getTangentialImpulse() {
return this.tangentialImpulse;
}
}