Package jsim.solver

Class ImpulseSolver

java.lang.Object

jsim.solver.ImpulseSolver

public final class ImpulseSolver
extends Object

Sequential impulse (Projected Gauss-Seidel) constraint solver.

For each contact the solver iterates:

1. Compute relative velocity at the contact point.
2. Project a normal impulse j_n ≥ 0 that opposes penetration (with restitution).
3. Project a tangential impulse j_t clamped by Coulomb: |j_t| ≤ μ · j_n.
4. Apply accumulated impulses directly to each body's velocity state.

Both linear and angular response are included: the angular term uses the pre-computed world-frame inverse inertia tensor RigidBody.invIWorld.

Constructor Summary

Constructors

Constructor	Description
ImpulseSolver()	Create a solver with the default iteration count.
ImpulseSolver(int iterations)	Create a solver with a custom iteration count.

Method Summary

Modifier and Type	Method	Description
void	solve(List<ContactPoint> contacts, double dt)	Build constraint data from contacts, then run iterations solve passes.

Methods inherited from class java.lang.Object

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

Constructor Details

ImpulseSolver

public ImpulseSolver()

Create a solver with the default iteration count.

ImpulseSolver

public ImpulseSolver(int iterations)

Create a solver with a custom iteration count.

Parameters:

iterations - number of PGS passes per tick (higher = more accurate, slower)

Method Details

solve

public void solve(List<ContactPoint> contacts,
 double dt)

Build constraint data from contacts, then run iterations solve passes.

Parameters:

contacts - the contact points to resolve

dt - simulation timestep (seconds)