Package jsim.collision

Class NarrowPhase

java.lang.Object

jsim.collision.NarrowPhase

public final class NarrowPhase
extends Object

Generates ContactPoints from broadphase candidate pairs.

Supported shape pairs: Sphere-Sphere, Sphere-Plane, Box-Plane, Box-Sphere, Box-Box. Each test emits at most one contact (box-box emits the deepest corner contact).

Method Summary

Modifier and Type	Method	Description
static void	generateContacts(List<CollisionPair> pairs, List<ContactPoint> contacts)	Populate contacts from each CollisionPair.

Methods inherited from class java.lang.Object

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

Method Details

generateContacts

public static void generateContacts(List<CollisionPair> pairs,
 List<ContactPoint> contacts)

Populate contacts from each CollisionPair. Existing entries are cleared first. Only overlapping contacts (penetration > 0) are added.

Parameters:

pairs - broadphase candidate pairs to test

contacts - output list to populate (cleared before adding new contacts)