import org.jbox2d.dynamics.contacts.ContactVelocityConstraint.VelocityConstraintPoint; //导入依赖的package包/类
public void warmStart() {
  // Warm start.
  for (int i = 0; i < m_count; ++i) {
    final ContactVelocityConstraint vc = m_velocityConstraints[i];

    int indexA = vc.indexA;
    int indexB = vc.indexB;
    float mA = vc.invMassA;
    float iA = vc.invIA;
    float mB = vc.invMassB;
    float iB = vc.invIB;
    int pointCount = vc.pointCount;

    Vec2 vA = m_velocities[indexA].v;
    float wA = m_velocities[indexA].w;
    Vec2 vB = m_velocities[indexB].v;
    float wB = m_velocities[indexB].w;

    Vec2 normal = vc.normal;
    float tangentx = 1.0f * normal.y;
    float tangenty = -1.0f * normal.x;

    for (int j = 0; j < pointCount; ++j) {
      VelocityConstraintPoint vcp = vc.points[j];
      float Px = tangentx * vcp.tangentImpulse + normal.x * vcp.normalImpulse;
      float Py = tangenty * vcp.tangentImpulse + normal.y * vcp.normalImpulse;

      wA -= iA * (vcp.rA.x * Py - vcp.rA.y * Px);
      vA.x -= Px * mA;
      vA.y -= Py * mA;
      wB += iB * (vcp.rB.x * Py - vcp.rB.y * Px);
      vB.x += Px * mB;
      vB.y += Py * mB;
    }
    m_velocities[indexA].w = wA;
    m_velocities[indexB].w = wB;
  }
}
 

import org.jbox2d.dynamics.contacts.ContactVelocityConstraint.VelocityConstraintPoint; //导入依赖的package包/类
public void warmStart() {
  // Warm start.
  for (int i = 0; i < m_count; ++i) {
    final ContactVelocityConstraint vc = m_velocityConstraints[i];

    int indexA = vc.indexA;
    int indexB = vc.indexB;
    float mA = vc.invMassA;
    float iA = vc.invIA;
    float mB = vc.invMassB;
    float iB = vc.invIB;
    int pointCount = vc.pointCount;

    Vector2 vA = m_velocities[indexA].v;
    float wA = m_velocities[indexA].w;
    Vector2 vB = m_velocities[indexB].v;
    float wB = m_velocities[indexB].w;

    Vector2 normal = vc.normal;
    float tangentx = 1.0f * normal.y;
    float tangenty = -1.0f * normal.x;

    for (int j = 0; j < pointCount; ++j) {
      VelocityConstraintPoint vcp = vc.points[j];
      float Px = tangentx * vcp.tangentImpulse + normal.x * vcp.normalImpulse;
      float Py = tangenty * vcp.tangentImpulse + normal.y * vcp.normalImpulse;

      wA -= iA * (vcp.rA.x * Py - vcp.rA.y * Px);
      vA.x -= Px * mA;
      vA.y -= Py * mA;
      wB += iB * (vcp.rB.x * Py - vcp.rB.y * Px);
      vB.x += Px * mB;
      vB.y += Py * mB;
    }
    m_velocities[indexA].w = wA;
    m_velocities[indexB].w = wB;
  }
}