Class Narrowphase

Narrowphase. Creates contacts and friction given shapes and transforms.

Hierarchy

Narrowphase

Constructors

constructor

new Narrowphase(): Narrowphase
Returns Narrowphase
- Defined in collision/Narrowphase.ts:85

Properties

collidingBodiesLastStep

collidingBodiesLastStep: TupleDictionary<boolean>

Keeps track of the colliding bodies last step.

contactEquationPool

contactEquationPool: ContactEquationPool

Keeps track of the allocated ContactEquations.

Example

// Allocate a few equations before starting the simulation.
    // This way, no contact objects need to be created on the fly in the game loop.
    world.narrowphase.contactEquationPool.resize(1024);
    world.narrowphase.frictionEquationPool.resize(1024);

contactEquations

contactEquations: ContactEquation[]

Contact equations

currentContactMaterial

currentContactMaterial: null | ContactMaterial

The current contact material

enableFriction

enableFriction: boolean

Whether to make friction equations in the upcoming contacts.

enableFrictionReduction

enableFrictionReduction: boolean

Enable reduction of friction equations. If disabled, a box on a plane will generate 2 contact equations and 2 friction equations. If enabled, there will be only one friction equation. Same kind of simplifications are made for all collision types.

Deprecated

This flag will be removed when the feature is stable enough.

Default

true

enabledEquations

enabledEquations: boolean

Whether to make equations enabled in upcoming contacts.

frictionEquationPool

frictionEquationPool: FrictionEquationPool

Keeps track of the allocated ContactEquations.

frictionEquations

frictionEquations: FrictionEquation[]

Friction equations

narrowphases

narrowphases: {
    1: ((bodyA, shapeA, offsetA, _angleA, bodyB, shapeB, offsetB, _angleB, justTest?, radiusA?, radiusB?) => number);
    16: ((_bodyA, _shapeA, _positionA, _angleA, _bodyB, _shapeB, _positionB, _angleB, _justTest?) => number);
    32: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number);
    64: ((bi, si, xi, ai, bj, sj, xj, aj, justTest?) => number);
    8: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number);
} = ...

Type declaration

1: ((bodyA, shapeA, offsetA, _angleA, bodyB, shapeB, offsetB, _angleB, justTest?, radiusA?, radiusB?) => number)
- - (bodyA, shapeA, offsetA, _angleA, bodyB, shapeB, offsetB, _angleB, justTest?, radiusA?, radiusB?): number
  - Circle/Circle Narrowphase.
    Parameters
    - bodyA: Body
    - shapeA: Circle | Capsule
    - offsetA: Vec2
    - _angleA: number
    - bodyB: Body
    - shapeB: Circle | Capsule
    - offsetB: Vec2
    - _angleB: number
    - justTest: boolean = false
    - radiusA: number = shapeA.radius
    - radiusB: number = shapeB.radius
    Returns number
16: ((_bodyA, _shapeA, _positionA, _angleA, _bodyB, _shapeB, _positionB, _angleB, _justTest?) => number)
- - (_bodyA, _shapeA, _positionA, _angleA, _bodyB, _shapeB, _positionB, _angleB, _justTest?): number
  - Line/Line Narrowphase.
    Parameters
    - _bodyA: Body
    - _shapeA: Line
    - _positionA: Vec2
    - _angleA: number
    - _bodyB: Body
    - _shapeB: Line
    - _positionB: Vec2
    - _angleB: number
    - _justTest: boolean = false
    Returns number
    
    Todo
32: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number)
- - (bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?): number
  - Convex/Convex Narrowphase.
    Parameters
    - bodyA: Body
    - polyA: Convex
    - positionA: Vec2
    - angleA: number
    - bodyB: Body
    - polyB: Convex
    - positionB: Vec2
    - angleB: number
    - justTest: boolean = false
    Returns number
    
    See
    http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/
64: ((bi, si, xi, ai, bj, sj, xj, aj, justTest?) => number)
- - (bi, si, xi, ai, bj, sj, xj, aj, justTest?): number
  - Capsule/Capsule Narrowphase.
    Parameters
    - bi: Body
    - si: Capsule
    - xi: Vec2
    - ai: number
    - bj: Body
    - sj: Capsule
    - xj: Vec2
    - aj: number
    - justTest: boolean = false
    Returns number
8: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number)
- - (bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?): number
  - Convex/Convex Narrowphase.
    Parameters
    - bodyA: Body
    - polyA: Convex
    - positionA: Vec2
    - angleA: number
    - bodyB: Body
    - polyB: Convex
    - positionB: Vec2
    - angleB: number
    - justTest: boolean = false
    Returns number
    
    See
    http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/

slipForce

slipForce: number

The friction slip force to use when creating friction equations.

Methods

bodiesOverlap

bodiesOverlap(bodyA, bodyB, checkCollisionMasks?): boolean
Parameters
- bodyA: Body
- bodyB: Body
- Optional checkCollisionMasks: boolean
Returns boolean
- Defined in collision/Narrowphase.ts:98

capsuleCapsule

capsuleCapsule(bi, si, xi, ai, bj, sj, xj, aj, justTest?): number
Capsule/Capsule Narrowphase.
Parameters
- bi: Body
- si: Capsule
- xi: Vec2
- ai: number
- bj: Body
- sj: Capsule
- xj: Vec2
- aj: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:477

circleCapsule

circleCapsule(bi, si, xi, ai, bj, sj, xj, aj, justTest?): number
Circle/Capsule Narrowphase.
Parameters
- bi: Body
- si: Circle
- xi: Vec2
- ai: number
- bj: Body
- sj: Capsule
- xj: Vec2
- aj: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:939

circleCircle

circleCircle(bodyA, shapeA, offsetA, _angleA, bodyB, shapeB, offsetB, _angleB, justTest?, radiusA?, radiusB?): number
Circle/Circle Narrowphase.
Parameters
- bodyA: Body
- shapeA: Circle | Capsule
- offsetA: Vec2
- _angleA: number
- bodyB: Body
- shapeB: Circle | Capsule
- offsetB: Vec2
- _angleB: number
- justTest: boolean = false
- radiusA: number = shapeA.radius
- radiusB: number = shapeB.radius
Returns number
- Defined in collision/Narrowphase.ts:1264

circleConvex

circleConvex(circleBody, circleShape, circleOffset, _circleAngle, convexBody, convexShape, convexOffset, convexAngle, justTest?, circleRadius?): number
Circle/Convex Narrowphase.
Parameters
- circleBody: Body
- circleShape: Circle | Capsule
- circleOffset: Vec2
- _circleAngle: number
- convexBody: Body
- convexShape: Convex
- convexOffset: Vec2
- convexAngle: number
- justTest: boolean = false
- circleRadius: number = circleShape.radius
Returns number
- Defined in collision/Narrowphase.ts:967

circleHeightfield

circleHeightfield(circleBody, circleShape, circlePos, _circleAngle, hfBody, hfShape, hfPos, _fAngle, justTest?, radius?): number
Circle/Heightfield Narrowphase.
Parameters
- circleBody: Body
- circleShape: Circle
- circlePos: Vec2
- _circleAngle: number
- hfBody: Body
- hfShape: Heightfield
- hfPos: Vec2
- _fAngle: number
- justTest: boolean = false
- radius: number = circleShape.radius
Returns number
- Defined in collision/Narrowphase.ts:1863

circleLine

circleLine(circleBody, circleShape, circleOffset, _circleAngle, lineBody, lineShape, lineOffset, lineAngle, justTest?, lineRadius?, circleRadius?): number
Circle/Line Narrowphase.
Parameters
- circleBody: Body
- circleShape: Circle
- circleOffset: Vec2
- _circleAngle: number
- lineBody: Body
- lineShape: Line
- lineOffset: Vec2
- lineAngle: number
- justTest: boolean = false
  
  If set to true, this function will return the result (intersection or not) without adding equations.
- lineRadius: number = 0
  
  Radius to add to the line. Can be used to test Capsules.
- circleRadius: number = circleShape.radius
  
  If set, this value overrides the circle shape radius.
Returns number
- Defined in collision/Narrowphase.ts:779

circleParticle

circleParticle(circleBody, circleShape, circleOffset, _circleAngle, particleBody, particleShape, particleOffset, _particleAngle, justTest?): number
Parameters
- circleBody: Body
- circleShape: Circle
- circleOffset: Vec2
- _circleAngle: number
- particleBody: Body
- particleShape: Particle
- particleOffset: Vec2
- _particleAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:1465

circlePlane

circlePlane(circleBody, circleShape, circleOffset, _circleAngle, planeBody, planeShape, planeOffset, planeAngle, justTest?): number
Circle/Plane Narrowphase
Parameters
- circleBody: Body
- circleShape: Circle
- circleOffset: Vec2
- _circleAngle: number
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:1612

collidedLastStep

collidedLastStep(bodyA, bodyB): boolean
Check if the bodies were in contact since the last reset().
Parameters
- bodyA: Body
- bodyB: Body
Returns boolean
- Defined in collision/Narrowphase.ts:169

convexCapsule

convexCapsule(convexBody, convexShape, convexPosition, convexAngle, capsuleBody, capsuleShape, capsulePosition, capsuleAngle, justTest?): number
Convex/Capsule Narrowphase.
Parameters
- convexBody: Body
- convexShape: Convex
- convexPosition: Vec2
- convexAngle: number
- capsuleBody: Body
- capsuleShape: Capsule
- capsulePosition: Vec2
- capsuleAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:369

convexConvex

convexConvex(bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?): number
Convex/Convex Narrowphase.
Parameters
- bodyA: Body
- polyA: Convex
- positionA: Vec2
- angleA: number
- bodyB: Body
- polyB: Convex
- positionB: Vec2
- angleB: number
- justTest: boolean = false
Returns number

See
http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/
- Defined in collision/Narrowphase.ts:1690

convexHeightfield

convexHeightfield(convexBody, convexShape, convexPos, convexAngle, hfBody, hfShape, hfPos, _hfAngle, justTest?): number
Convex/Heightfield Narrowphase.
Parameters
- convexBody: Body
- convexShape: Convex
- convexPos: Vec2
- convexAngle: number
- hfBody: Body
- hfShape: Heightfield
- hfPos: Vec2
- _hfAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:2044

convexLine

convexLine(_convexBody, _convexShape, _convexOffset, _convexAngle, _lineBody, _lineShape, _lineOffset, _lineAngle, _justTest?): number
Convex/Line Narrowphase.
Parameters
- _convexBody: Body
- _convexShape: Convex
- _convexOffset: Vec2
- _convexAngle: number
- _lineBody: Body
- _lineShape: Line
- _lineOffset: Vec2
- _lineAngle: number
- _justTest: boolean = false
Returns number

Todo
- Defined in collision/Narrowphase.ts:314

createContactEquation

createContactEquation(bodyA, bodyB, shapeA, shapeB): ContactEquation
Creates a ContactEquation, either by reusing an existing object or creating a new one.
Parameters
- bodyA: Body
- bodyB: Body
- shapeA: Shape
- shapeB: Shape
Returns ContactEquation
- Defined in collision/Narrowphase.ts:210

createFrictionEquation

createFrictionEquation(bodyA, bodyB, shapeA, shapeB): FrictionEquation
Creates a FrictionEquation, either by reusing an existing object or creating a new one.
Parameters
- bodyA: Body
- bodyB: Body
- shapeA: Shape
- shapeB: Shape
Returns FrictionEquation
- Defined in collision/Narrowphase.ts:237

createFrictionFromAverage

createFrictionFromAverage(numContacts): FrictionEquation
Parameters
- numContacts: number
Returns FrictionEquation
- Defined in collision/Narrowphase.ts:271

createFrictionFromContact

createFrictionFromContact(c): FrictionEquation
Creates a FrictionEquation given the data in the ContactEquation. Uses same offset vectors ri and rj, but the tangent vector will be constructed from the collision normal.
Parameters
- c: ContactEquation
Returns FrictionEquation
- Defined in collision/Narrowphase.ts:262

lineBox

lineBox(_lineBody, _lineShape, _lineOffset, _lineAngle, _boxBody, _boxShape, _boxOffset, _boxAngle, _justTest?): number
Line/Box Narrowphase.
Parameters
- _lineBody: Body
- _lineShape: Line
- _lineOffset: Vec2
- _lineAngle: number
- _boxBody: Body
- _boxShape: Box
- _boxOffset: Vec2
- _boxAngle: number
- _justTest: boolean = false
Returns number

Todo
- Defined in collision/Narrowphase.ts:342

lineCapsule

lineCapsule(_lineBody, _lineShape, _linePosition, _lineAngle, _capsuleBody, _capsuleShape, _capsulePosition, _capsuleAngle, _justTest?): number
Line/Capsule Narrowphase.
Parameters
- _lineBody: Body
- _lineShape: Line
- _linePosition: Vec2
- _lineAngle: number
- _capsuleBody: Body
- _capsuleShape: Capsule
- _capsulePosition: Vec2
- _capsuleAngle: number
- _justTest: boolean = false
Returns number

Todo
- Defined in collision/Narrowphase.ts:450

lineLine

lineLine(_bodyA, _shapeA, _positionA, _angleA, _bodyB, _shapeB, _positionB, _angleB, _justTest?): number
Line/Line Narrowphase.
Parameters
- _bodyA: Body
- _shapeA: Line
- _positionA: Vec2
- _angleA: number
- _bodyB: Body
- _shapeB: Line
- _positionB: Vec2
- _angleB: number
- _justTest: boolean = false
Returns number

Todo
- Defined in collision/Narrowphase.ts:599

particleCapsule

particleCapsule(particleBody, particleShape, particlePosition, particleAngle, capsuleBody, capsuleShape, capsulePosition, capsuleAngle, justTest?): number
Particle/Capsule Narrowphase.
Parameters
- particleBody: Body
- particleShape: Particle
- particlePosition: Vec2
- particleAngle: number
- capsuleBody: Body
- capsuleShape: Capsule
- capsulePosition: Vec2
- capsuleAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:738

particleConvex

particleConvex(particleBody, particleShape, particleOffset, _particleAngle, convexBody, convexShape, convexOffset, convexAngle, justTest?): number
Particle/Convex Narrowphase.
Parameters
- particleBody: Body
- particleShape: Particle
- particleOffset: Vec2
- _particleAngle: number
- convexBody: Body
- convexShape: Convex
- convexOffset: Vec2
- convexAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:1151

particlePlane

particlePlane(particleBody, particleShape, particleOffset, _particleAngle, planeBody, planeShape, planeOffset, planeAngle, justTest?): number
Particle/Plane Narrowphase.
Parameters
- particleBody: Body
- particleShape: Particle
- particleOffset: Vec2
- _particleAngle: number
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:1416

planeCapsule

planeCapsule(planeBody, planeShape, planeOffset, planeAngle, capsuleBody, capsuleShape, capsuleOffset, capsuleAngle, justTest?): number
Plane/Capsule Narrowphase.
Parameters
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- capsuleBody: Body
- capsuleShape: Capsule
- capsuleOffset: Vec2
- capsuleAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:1525

planeConvex

planeConvex(planeBody, planeShape, planeOffset, planeAngle, convexBody, convexShape, convexOffset, convexAngle, justTest?): number
Plane/Convex Narrowphase.
Parameters
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- convexBody: Body
- convexShape: Convex
- convexOffset: Vec2
- convexAngle: number
- justTest: boolean = false
Returns number

Todo
only use the deepest contact point + the contact point furthest away from it
- Defined in collision/Narrowphase.ts:1325

planeLine

planeLine(planeBody, planeShape, planeOffset, planeAngle, lineBody, lineShape, lineOffset, lineAngle, justTest?): number
Plane/line Narrowphase
Parameters
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- lineBody: Body
- lineShape: Line
- lineOffset: Vec2
- lineAngle: number
- justTest: boolean = false
Returns number
- Defined in collision/Narrowphase.ts:626

reset

reset(): void
Throws away the old equations and gets ready to create new

Returns void
- Defined in collision/Narrowphase.ts:178

Class Narrowphase

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Returns Narrowphase

Properties

collidingBodiesLastStep

contactEquationPool

Example

contactEquations

currentContactMaterial

enableFriction

enableFrictionReduction

Deprecated

Default

enabledEquations

frictionEquationPool

frictionEquations

narrowphases

Type declaration

1: ((bodyA, shapeA, offsetA, _angleA, bodyB, shapeB, offsetB, _angleB, justTest?, radiusA?, radiusB?) => number)

Parameters

bodyA: Body

shapeA: Circle | Capsule

offsetA: Vec2

_angleA: number

bodyB: Body

shapeB: Circle | Capsule

offsetB: Vec2

_angleB: number

justTest: boolean = false

radiusA: number = shapeA.radius

radiusB: number = shapeB.radius

Returns number

16: ((_bodyA, _shapeA, _positionA, _angleA, _bodyB, _shapeB, _positionB, _angleB, _justTest?) => number)

Parameters

_bodyA: Body

_shapeA: Line

_positionA: Vec2

_angleA: number

_bodyB: Body

_shapeB: Line

_positionB: Vec2

_angleB: number

_justTest: boolean = false

Returns number

Todo

32: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number)

Parameters

bodyA: Body

polyA: Convex

positionA: Vec2

angleA: number

bodyB: Body

polyB: Convex

positionB: Vec2

angleB: number

justTest: boolean = false

Returns number

See

64: ((bi, si, xi, ai, bj, sj, xj, aj, justTest?) => number)

Parameters

bi: Body

si: Capsule

xi: Vec2

ai: number

bj: Body

sj: Capsule

xj: Vec2

aj: number

justTest: boolean = false

Returns number

8: ((bodyA, polyA, positionA, angleA, bodyB, polyB, positionB, angleB, justTest?) => number)

Parameters

bodyA: Body

polyA: Convex

`Optional` checkCollisionMasks: boolean