pbox2d 0.6.0-java → 0.8.0-java

data/src/org/jbox2d/dynamics/contacts/ChainAndCircleContact.java

@@ -0,0 +1,57 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.collision.Manifold;
+import org.jbox2d.collision.shapes.ChainShape;
+import org.jbox2d.collision.shapes.CircleShape;
+import org.jbox2d.collision.shapes.EdgeShape;
+import org.jbox2d.collision.shapes.ShapeType;
+import org.jbox2d.common.Transform;
+import org.jbox2d.dynamics.Fixture;
+import org.jbox2d.pooling.IWorldPool;
+
+public class ChainAndCircleContact extends Contact {
+
+  public ChainAndCircleContact(IWorldPool argPool) {
+    super(argPool);
+  }
+
+  @Override
+  public void init(Fixture fA, int indexA, Fixture fB, int indexB) {
+    super.init(fA, indexA, fB, indexB);
+    assert (m_fixtureA.getType() == ShapeType.CHAIN);
+    assert (m_fixtureB.getType() == ShapeType.CIRCLE);
+  }
+
+  private final EdgeShape edge = new EdgeShape();
+
+  @Override
+  public void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
+    ChainShape chain = (ChainShape) m_fixtureA.getShape();
+    chain.getChildEdge(edge, m_indexA);
+    pool.getCollision().collideEdgeAndCircle(manifold, edge, xfA,
+        (CircleShape) m_fixtureB.getShape(), xfB);
+  }
+}

data/src/org/jbox2d/dynamics/contacts/ChainAndPolygonContact.java

@@ -0,0 +1,57 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.collision.Manifold;
+import org.jbox2d.collision.shapes.ChainShape;
+import org.jbox2d.collision.shapes.EdgeShape;
+import org.jbox2d.collision.shapes.PolygonShape;
+import org.jbox2d.collision.shapes.ShapeType;
+import org.jbox2d.common.Transform;
+import org.jbox2d.dynamics.Fixture;
+import org.jbox2d.pooling.IWorldPool;
+
+public class ChainAndPolygonContact extends Contact {
+
+  public ChainAndPolygonContact(IWorldPool argPool) {
+    super(argPool);
+  }
+
+  @Override
+  public void init(Fixture fA, int indexA, Fixture fB, int indexB) {
+    super.init(fA, indexA, fB, indexB);
+    assert (m_fixtureA.getType() == ShapeType.CHAIN);
+    assert (m_fixtureB.getType() == ShapeType.POLYGON);
+  }
+
+  private final EdgeShape edge = new EdgeShape();
+
+  @Override
+  public void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
+    ChainShape chain = (ChainShape) m_fixtureA.getShape();
+    chain.getChildEdge(edge, m_indexA);
+    pool.getCollision().collideEdgeAndPolygon(manifold, edge, xfA,
+        (PolygonShape) m_fixtureB.getShape(), xfB);
+  }
+}

data/src/org/jbox2d/dynamics/contacts/CircleContact.java

@@ -0,0 +1,50 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.collision.Manifold;
+import org.jbox2d.collision.shapes.CircleShape;
+import org.jbox2d.collision.shapes.ShapeType;
+import org.jbox2d.common.Transform;
+import org.jbox2d.dynamics.Fixture;
+import org.jbox2d.pooling.IWorldPool;
+
+public class CircleContact extends Contact {
+
+  public CircleContact(IWorldPool argPool) {
+    super(argPool);
+  }
+
+  public void init(Fixture fixtureA, Fixture fixtureB) {
+    super.init(fixtureA, 0, fixtureB, 0);
+    assert (m_fixtureA.getType() == ShapeType.CIRCLE);
+    assert (m_fixtureB.getType() == ShapeType.CIRCLE);
+  }
+
+  @Override
+  public void evaluate(Manifold manifold, Transform xfA, Transform xfB) {
+    pool.getCollision().collideCircles(manifold, (CircleShape) m_fixtureA.getShape(), xfA,
+        (CircleShape) m_fixtureB.getShape(), xfB);
+  }
+}

data/src/org/jbox2d/dynamics/contacts/Contact.java

@@ -0,0 +1,365 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+
+import org.jbox2d.callbacks.ContactListener;
+import org.jbox2d.collision.ContactID;
+import org.jbox2d.collision.Manifold;
+import org.jbox2d.collision.ManifoldPoint;
+import org.jbox2d.collision.WorldManifold;
+import org.jbox2d.collision.shapes.Shape;
+import org.jbox2d.common.MathUtils;
+import org.jbox2d.common.Transform;
+import org.jbox2d.dynamics.Body;
+import org.jbox2d.dynamics.Fixture;
+import org.jbox2d.pooling.IWorldPool;
+
+/**
+ * The class manages contact between two shapes. A contact exists for each overlapping AABB in the
+ * broad-phase (except if filtered). Therefore a contact object may exist that has no contact
+ * points.
+ * 
+ * @author daniel
+ */
+public abstract class Contact {
+
+  // Flags stored in m_flags
+  // Used when crawling contact graph when forming islands.
+  public static final int ISLAND_FLAG = 0x0001;
+  // Set when the shapes are touching.
+  public static final int TOUCHING_FLAG = 0x0002;
+  // This contact can be disabled (by user)
+  public static final int ENABLED_FLAG = 0x0004;
+  // This contact needs filtering because a fixture filter was changed.
+  public static final int FILTER_FLAG = 0x0008;
+  // This bullet contact had a TOI event
+  public static final int BULLET_HIT_FLAG = 0x0010;
+
+  public static final int TOI_FLAG = 0x0020;
+
+  public int m_flags;
+
+  // World pool and list pointers.
+  public Contact m_prev;
+  public Contact m_next;
+
+  // Nodes for connecting bodies.
+  public ContactEdge m_nodeA = null;
+  public ContactEdge m_nodeB = null;
+
+  public Fixture m_fixtureA;
+  public Fixture m_fixtureB;
+
+  public int m_indexA;
+  public int m_indexB;
+
+  public final Manifold m_manifold;
+
+  public float m_toiCount;
+  public float m_toi;
+
+  public float m_friction;
+  public float m_restitution;
+
+  public float m_tangentSpeed;
+
+  protected final IWorldPool pool;
+
+  protected Contact(IWorldPool argPool) {
+    m_fixtureA = null;
+    m_fixtureB = null;
+    m_nodeA = new ContactEdge();
+    m_nodeB = new ContactEdge();
+    m_manifold = new Manifold();
+    pool = argPool;
+  }
+
+  /** initialization for pooling */
+  public void init(Fixture fA, int indexA, Fixture fB, int indexB) {
+    m_flags = ENABLED_FLAG;
+
+    m_fixtureA = fA;
+    m_fixtureB = fB;
+
+    m_indexA = indexA;
+    m_indexB = indexB;
+
+    m_manifold.pointCount = 0;
+
+    m_prev = null;
+    m_next = null;
+
+    m_nodeA.contact = null;
+    m_nodeA.prev = null;
+    m_nodeA.next = null;
+    m_nodeA.other = null;
+
+    m_nodeB.contact = null;
+    m_nodeB.prev = null;
+    m_nodeB.next = null;
+    m_nodeB.other = null;
+
+    m_toiCount = 0;
+    m_friction = Contact.mixFriction(fA.m_friction, fB.m_friction);
+    m_restitution = Contact.mixRestitution(fA.m_restitution, fB.m_restitution);
+
+    m_tangentSpeed = 0;
+  }
+
+  /**
+   * Get the contact manifold. Do not set the point count to zero. Instead call Disable.
+   */
+  public Manifold getManifold() {
+    return m_manifold;
+  }
+
+  /**
+   * Get the world manifold.
+   */
+  public void getWorldManifold(WorldManifold worldManifold) {
+    final Body bodyA = m_fixtureA.getBody();
+    final Body bodyB = m_fixtureB.getBody();
+    final Shape shapeA = m_fixtureA.getShape();
+    final Shape shapeB = m_fixtureB.getShape();
+
+    worldManifold.initialize(m_manifold, bodyA.getTransform(), shapeA.m_radius,
+        bodyB.getTransform(), shapeB.m_radius);
+  }
+
+  /**
+   * Is this contact touching
+   * 
+   * @return
+   */
+  public boolean isTouching() {
+    return (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;
+  }
+
+  /**
+   * Enable/disable this contact. This can be used inside the pre-solve contact listener. The
+   * contact is only disabled for the current time step (or sub-step in continuous collisions).
+   * 
+   * @param flag
+   */
+  public void setEnabled(boolean flag) {
+    if (flag) {
+      m_flags |= ENABLED_FLAG;
+    } else {
+      m_flags &= ~ENABLED_FLAG;
+    }
+  }
+
+  /**
+   * Has this contact been disabled?
+   * 
+   * @return
+   */
+  public boolean isEnabled() {
+    return (m_flags & ENABLED_FLAG) == ENABLED_FLAG;
+  }
+
+  /**
+   * Get the next contact in the world's contact list.
+   * 
+   * @return
+   */
+  public Contact getNext() {
+    return m_next;
+  }
+
+  /**
+   * Get the first fixture in this contact.
+   * 
+   * @return
+   */
+  public Fixture getFixtureA() {
+    return m_fixtureA;
+  }
+
+  public int getChildIndexA() {
+    return m_indexA;
+  }
+
+  /**
+   * Get the second fixture in this contact.
+   * 
+   * @return
+   */
+  public Fixture getFixtureB() {
+    return m_fixtureB;
+  }
+
+  public int getChildIndexB() {
+    return m_indexB;
+  }
+
+  public void setFriction(float friction) {
+    m_friction = friction;
+  }
+
+  public float getFriction() {
+    return m_friction;
+  }
+
+  public void resetFriction() {
+    m_friction = Contact.mixFriction(m_fixtureA.m_friction, m_fixtureB.m_friction);
+  }
+
+  public void setRestitution(float restitution) {
+    m_restitution = restitution;
+  }
+
+  public float getRestitution() {
+    return m_restitution;
+  }
+
+  public void resetRestitution() {
+    m_restitution = Contact.mixRestitution(m_fixtureA.m_restitution, m_fixtureB.m_restitution);
+  }
+
+  public void setTangentSpeed(float speed) {
+    m_tangentSpeed = speed;
+  }
+
+  public float getTangentSpeed() {
+    return m_tangentSpeed;
+  }
+
+  public abstract void evaluate(Manifold manifold, Transform xfA, Transform xfB);
+
+  /**
+   * Flag this contact for filtering. Filtering will occur the next time step.
+   */
+  public void flagForFiltering() {
+    m_flags |= FILTER_FLAG;
+  }
+
+  // djm pooling
+  private final Manifold oldManifold = new Manifold();
+
+  public void update(ContactListener listener) {
+
+    oldManifold.set(m_manifold);
+
+    // Re-enable this contact.
+    m_flags |= ENABLED_FLAG;
+
+    boolean touching = false;
+    boolean wasTouching = (m_flags & TOUCHING_FLAG) == TOUCHING_FLAG;
+
+    boolean sensorA = m_fixtureA.isSensor();
+    boolean sensorB = m_fixtureB.isSensor();
+    boolean sensor = sensorA || sensorB;
+
+    Body bodyA = m_fixtureA.getBody();
+    Body bodyB = m_fixtureB.getBody();
+    Transform xfA = bodyA.getTransform();
+    Transform xfB = bodyB.getTransform();
+    // log.debug("TransformA: "+xfA);
+    // log.debug("TransformB: "+xfB);
+
+    if (sensor) {
+      Shape shapeA = m_fixtureA.getShape();
+      Shape shapeB = m_fixtureB.getShape();
+      touching = pool.getCollision().testOverlap(shapeA, m_indexA, shapeB, m_indexB, xfA, xfB);
+
+      // Sensors don't generate manifolds.
+      m_manifold.pointCount = 0;
+    } else {
+      evaluate(m_manifold, xfA, xfB);
+      touching = m_manifold.pointCount > 0;
+
+      // Match old contact ids to new contact ids and copy the
+      // stored impulses to warm start the solver.
+      for (int i = 0; i < m_manifold.pointCount; ++i) {
+        ManifoldPoint mp2 = m_manifold.points[i];
+        mp2.normalImpulse = 0.0f;
+        mp2.tangentImpulse = 0.0f;
+        ContactID id2 = mp2.id;
+
+        for (int j = 0; j < oldManifold.pointCount; ++j) {
+          ManifoldPoint mp1 = oldManifold.points[j];
+
+          if (mp1.id.isEqual(id2)) {
+            mp2.normalImpulse = mp1.normalImpulse;
+            mp2.tangentImpulse = mp1.tangentImpulse;
+            break;
+          }
+        }
+      }
+
+      if (touching != wasTouching) {
+        bodyA.setAwake(true);
+        bodyB.setAwake(true);
+      }
+    }
+
+    if (touching) {
+      m_flags |= TOUCHING_FLAG;
+    } else {
+      m_flags &= ~TOUCHING_FLAG;
+    }
+
+    if (listener == null) {
+      return;
+    }
+
+    if (wasTouching == false && touching == true) {
+      listener.beginContact(this);
+    }
+
+    if (wasTouching == true && touching == false) {
+      listener.endContact(this);
+    }
+
+    if (sensor == false && touching) {
+      listener.preSolve(this, oldManifold);
+    }
+  }
+
+  /**
+   * Friction mixing law. The idea is to allow either fixture to drive the restitution to zero. For
+   * example, anything slides on ice.
+   * 
+   * @param friction1
+   * @param friction2
+   * @return
+   */
+  public static final float mixFriction(float friction1, float friction2) {
+    return MathUtils.sqrt(friction1 * friction2);
+  }
+
+  /**
+   * Restitution mixing law. The idea is allow for anything to bounce off an inelastic surface. For
+   * example, a superball bounces on anything.
+   * 
+   * @param restitution1
+   * @param restitution2
+   * @return
+   */
+  public static final float mixRestitution(float restitution1, float restitution2) {
+    return restitution1 > restitution2 ? restitution1 : restitution2;
+  }
+}

data/src/org/jbox2d/dynamics/contacts/ContactCreator.java

@@ -0,0 +1,35 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.dynamics.Fixture;
+import org.jbox2d.pooling.IWorldPool;
+
+// updated to rev 100
+public interface ContactCreator {
+
+	public Contact contactCreateFcn(IWorldPool argPool, Fixture fixtureA, Fixture fixtureB);
+	
+	public void contactDestroyFcn(IWorldPool argPool, Contact contact);
+}

data/src/org/jbox2d/dynamics/contacts/ContactEdge.java

@@ -0,0 +1,56 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.dynamics.Body;
+
+/**
+ * A contact edge is used to connect bodies and contacts together in a contact graph where each body
+ * is a node and each contact is an edge. A contact edge belongs to a doubly linked list maintained
+ * in each attached body. Each contact has two contact nodes, one for each attached body.
+ * 
+ * @author daniel
+ */
+public class ContactEdge {
+
+  /**
+   * provides quick access to the other body attached.
+   */
+  public Body other = null;
+
+  /**
+   * the contact
+   */
+  public Contact contact = null;
+
+  /**
+   * the previous contact edge in the body's contact list
+   */
+  public ContactEdge prev = null;
+
+  /**
+   * the next contact edge in the body's contact list
+   */
+  public ContactEdge next = null;
+}

data/src/org/jbox2d/dynamics/contacts/ContactPositionConstraint.java

@@ -0,0 +1,49 @@
+/*******************************************************************************
+ * Copyright (c) 2013, Daniel Murphy
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 	* Redistributions of source code must retain the above copyright notice,
+ * 	  this list of conditions and the following disclaimer.
+ * 	* Redistributions in binary form must reproduce the above copyright notice,
+ * 	  this list of conditions and the following disclaimer in the documentation
+ * 	  and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+package org.jbox2d.dynamics.contacts;
+
+import org.jbox2d.collision.Manifold.ManifoldType;
+import org.jbox2d.common.Settings;
+import org.jbox2d.common.Vec2;
+
+public class ContactPositionConstraint {
+  Vec2[] localPoints = new Vec2[Settings.maxManifoldPoints];
+  final Vec2 localNormal = new Vec2();
+  final Vec2 localPoint = new Vec2();
+  int indexA;
+  int indexB;
+  float invMassA, invMassB;
+  final Vec2 localCenterA = new Vec2();
+  final Vec2 localCenterB = new Vec2();
+  float invIA, invIB;
+  ManifoldType type;
+  float radiusA, radiusB;
+  int pointCount;
+
+  public ContactPositionConstraint() {
+    for (int i = 0; i < localPoints.length; i++) {
+      localPoints[i] = new Vec2();
+    }
+  }
+}