How to use

getWorldManifold

method

in

org.jbox2d.dynamics.contacts.Contact

public WorldManifold getWorldManifold () {
  contact.getWorldManifold(worldManifold2);
  int numContactPoints = contact.getManifold().pointCount;
  worldManifold.numContactPoints = numContactPoints;
  worldManifold.normal.set(worldManifold2.normal.x, worldManifold2.normal.y);
  for (int i = 0; i < worldManifold.points.length; i++) {
    worldManifold.points[i] = new Vector2(worldManifold2.points[i].x, worldManifold2.points[i].y);
  }
  return worldManifold;
}

 public void preSolve(Contact contact, Manifold oldManifold) {
  Manifold manifold = contact.getManifold();

  if (manifold.pointCount == 0) {
   return;
  }

  Fixture fixtureA = contact.getFixtureA();
  Fixture fixtureB = contact.getFixtureB();

  Collision.getPointStates(state1, state2, oldManifold, manifold);

  contact.getWorldManifold(worldManifold);

  for (int i = 0; i < manifold.pointCount && pointCount < MAX_CONTACT_POINTS; i++) {
   ContactPoint cp = points[pointCount];
   cp.fixtureA = fixtureA;
   cp.fixtureB = fixtureB;
   cp.position.set(worldManifold.points[i]);
   cp.normal.set(worldManifold.normal);
   cp.state = state2[i];
   cp.normalImpulse = manifold.points[i].normalImpulse;
   cp.tangentImpulse = manifold.points[i].tangentImpulse;
   cp.separation = worldManifold.separations[i];
   ++pointCount;
  }
 }
}

 protected ContactListener createContactListener() {
  return new ContactListener() {
    public void beginContact(Contact contact) {
      Vector2[] contactPoints = contact.getWorldManifold().getPoints();
       for(int i = 0; i < contactPoints.length; i++) {
         ...
       }
       ...
    }
  }
}

 public void beginContact(Contact c) {
  System.out.println("CONTACT");

  WorldManifold worldmanifold;
  worldmanifold = c.getWorldManifold();

  for(Vec2 point : worldmanifold.points){
    System.out.println("Contact at : [" + point.x + ", " + point.y "]");
  }
}

public void preSolve(Contact contact, Manifold oldManifold) {
 Manifold manifold = contact.getManifold();
 if (manifold.pointCount == 0) {
  return;
 }
 Fixture fixtureA = contact.getFixtureA();
 Fixture fixtureB = contact.getFixtureB();
 Collision.getPointStates(state1, state2, oldManifold, manifold);
 contact.getWorldManifold(worldManifold);
 for (int i = 0; i < manifold.pointCount && pointCount < MAX_CONTACT_POINTS; i++) {
  ContactPoint cp = points[pointCount];
  cp.fixtureA = fixtureA;
  cp.fixtureB = fixtureB;
  cp.position.set(worldManifold.points[i]);
  cp.normal.set(worldManifold.normal);
  cp.state = state2[i];
  cp.normalImpulse = manifold.points[i].normalImpulse;
  cp.tangentImpulse = manifold.points[i].tangentImpulse;
  ++pointCount;
 }
}