| Name |
Description |
| AABB |
An axis-aligned bounding box. |
| B2AABB |
|
| Collision |
Functions used for computing contact points, distance queries, and TOI queries. Collision methods are non-static for pooling speed, retrieve a collision object from the {@link SingletonPool}. Should not be constructed. |
| Collision.ClipVertex |
Used for computing contact manifolds. |
| Collision.EPAxis |
This structure is used to keep track of the best separating axis. |
| Collision.EPCollider |
This class collides and edge and a polygon, taking into account edge adjacency. |
| Collision.EdgeResults |
Java-specific class for returning edge results |
| Collision.ReferenceFace |
Reference face used for clipping |
| Collision.TempPolygon |
This holds polygon B expressed in frame A. |
| Distance |
This is non-static for faster pooling. To get an instance, use the {@link SingletonPool}, don't construct a distance object. |
| Distance.DistanceProxy |
A distance proxy is used by the GJK algorithm. It encapsulates any shape. TODO: see if we can just do assignments with m_vertices, instead of copying stuff over |
| Distance.Simplex |
|
| Distance.SimplexCache |
Used to warm start Distance. Set count to zero on first call. |
| Distance.SimplexVertex |
GJK using Voronoi regions (Christer Ericson) and Barycentric coordinates. |
| DistanceInput |
Input for Distance. You have to option to use the shape radii in the computation. |
| DistanceOutput |
Output for Distance. |
| Manifold |
A manifold for two touching convex shapes. Box2D supports multiple types of contact: - clip point versus plane with radius
- point versus point with radius (circles)
The local point usage depends on the manifold type: - e_circles: the local center of circleA
- e_faceA: the center of faceA
- e_faceB: the center of faceB
Similarly the local normal usage: - e_circles: not used
- e_faceA: the normal on polygonA
- e_faceB: the normal on polygonB
We store contacts in this way so that position correction can account for movement, which is critical for continuous physics. All contact scenarios must be expressed in one of these types. This structure is stored across time steps, so we keep it small. |
| ManifoldPoint |
A manifold point is a contact point belonging to a contact manifold. It holds details related to the geometry and dynamics of the contact points. The local point usage depends on the manifold type: - e_circles: the local center of circleB
- e_faceA: the local center of cirlceB or the clip point of polygonB
- e_faceB: the clip point of polygonA
This structure is stored across time steps, so we keep it small.
Note: the impulses are used for internal caching and may not provide reliable contact forces, especially for high speed collisions. |
| RayCastInput |
Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1). |
| RayCastOutput |
Ray-cast output data. The ray hits at p1 + fraction * (p2 - p1), where p1 and p2 come from b2RayCastInput. |
| SeparationFunction |
|
| TimeOfImpact |
Class used for computing the time of impact. This class should not be constructed usually, just retrieve from the {@link SingletonPool#getTOI()}. |
| TimeOfImpact.TOIInput |
Input parameters for TOI |
| TimeOfImpact.TOIOutput |
Output parameters for TimeOfImpact |
| WorldManifold |
This is used to compute the current state of a contact manifold. |