Narrowphase | p2-es

Narrowphase. Creates contacts and friction given shapes and transforms.

Hierarchy

Narrowphase

Constructors

constructor

new Narrowphase(): Narrowphase

- Defined in collision/Narrowphase.ts:85
Returns Narrowphase

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: Body, shapeA: Circle | Capsule, offsetA: Vec2, _angleA: number, bodyB: Body, shapeB: Circle | Capsule, offsetB: Vec2, _angleB: number, justTest?: boolean, radiusA?: number, radiusB?: number) => number); 16: ((_bodyA: Body, _shapeA: Line, _positionA: Vec2, _angleA: number, _bodyB: Body, _shapeB: Line, _positionB: Vec2, _angleB: number, _justTest?: boolean) => number); 32: ((bodyA: Body, polyA: Convex, positionA: Vec2, angleA: number, bodyB: Body, polyB: Convex, positionB: Vec2, angleB: number, justTest?: boolean) => number); 64: ((bi: Body, si: Capsule, xi: Vec2, ai: number, bj: Body, sj: Capsule, xj: Vec2, aj: number, justTest?: boolean) => number); 8: ((bodyA: Body, polyA: Convex, positionA: Vec2, angleA: number, bodyB: Body, polyB: Convex, positionB: Vec2, angleB: number, justTest?: boolean) => number) } = ...

Type declaration

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

slipForce

slipForce: number

The friction slip force to use when creating friction equations.

Methods

bodiesOverlap

bodiesOverlap(bodyA: Body, bodyB: Body, checkCollisionMasks?: boolean): boolean

- Defined in collision/Narrowphase.ts:98
Parameters
- bodyA: Body
- bodyB: Body
- Optional checkCollisionMasks: boolean
Returns boolean

capsuleCapsule

capsuleCapsule(bi: Body, si: Capsule, xi: Vec2, ai: number, bj: Body, sj: Capsule, xj: Vec2, aj: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:478
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

circleCapsule

circleCapsule(bi: Body, si: Circle, xi: Vec2, ai: number, bj: Body, sj: Capsule, xj: Vec2, aj: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:940
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

circleCircle

circleCircle(bodyA: Body, shapeA: Circle | Capsule, offsetA: Vec2, _angleA: number, bodyB: Body, shapeB: Circle | Capsule, offsetB: Vec2, _angleB: number, justTest?: boolean, radiusA?: number, radiusB?: number): number

- Defined in collision/Narrowphase.ts:1265
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

circleConvex

circleConvex(circleBody: Body, circleShape: Circle | Capsule, circleOffset: Vec2, _circleAngle: number, convexBody: Body, convexShape: Convex, convexOffset: Vec2, convexAngle: number, justTest?: boolean, circleRadius?: number): number

- Defined in collision/Narrowphase.ts:968
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

circleHeightfield

circleHeightfield(circleBody: Body, circleShape: Circle, circlePos: Vec2, _circleAngle: number, hfBody: Body, hfShape: Heightfield, hfPos: Vec2, _fAngle: number, justTest?: boolean, radius?: number): number

- Defined in collision/Narrowphase.ts:1864
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

circleLine

circleLine(circleBody: Body, circleShape: Circle, circleOffset: Vec2, _circleAngle: number, lineBody: Body, lineShape: Line, lineOffset: Vec2, lineAngle: number, justTest?: boolean, lineRadius?: number, circleRadius?: number): number

- Defined in collision/Narrowphase.ts:780
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

circleParticle

circleParticle(circleBody: Body, circleShape: Circle, circleOffset: Vec2, _circleAngle: number, particleBody: Body, particleShape: Particle, particleOffset: Vec2, _particleAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1466
Parameters
- circleBody: Body
- circleShape: Circle
- circleOffset: Vec2
- _circleAngle: number
- particleBody: Body
- particleShape: Particle
- particleOffset: Vec2
- _particleAngle: number
- justTest: boolean = false
Returns number

circlePlane

circlePlane(circleBody: Body, circleShape: Circle, circleOffset: Vec2, _circleAngle: number, planeBody: Body, planeShape: Plane, planeOffset: Vec2, planeAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1613
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

collidedLastStep

collidedLastStep(bodyA: Body, bodyB: Body): boolean

- Defined in collision/Narrowphase.ts:170
Check if the bodies were in contact since the last reset().

Parameters
- bodyA: Body
- bodyB: Body
Returns boolean

convexCapsule

convexCapsule(convexBody: Body, convexShape: Convex, convexPosition: Vec2, convexAngle: number, capsuleBody: Body, capsuleShape: Capsule, capsulePosition: Vec2, capsuleAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:370
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

convexConvex

convexConvex(bodyA: Body, polyA: Convex, positionA: Vec2, angleA: number, bodyB: Body, polyB: Convex, positionB: Vec2, angleB: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1691
Convex/Convex Narrowphase.

see
http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/

Parameters
- bodyA: Body
- polyA: Convex
- positionA: Vec2
- angleA: number
- bodyB: Body
- polyB: Convex
- positionB: Vec2
- angleB: number
- justTest: boolean = false
Returns number

convexHeightfield

convexHeightfield(convexBody: Body, convexShape: Convex, convexPos: Vec2, convexAngle: number, hfBody: Body, hfShape: Heightfield, hfPos: Vec2, _hfAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:2045
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

convexLine

convexLine(_convexBody: Body, _convexShape: Convex, _convexOffset: Vec2, _convexAngle: number, _lineBody: Body, _lineShape: Line, _lineOffset: Vec2, _lineAngle: number, _justTest?: boolean): number

- Defined in collision/Narrowphase.ts:315
Convex/Line Narrowphase.

todo
Parameters
- _convexBody: Body
- _convexShape: Convex
- _convexOffset: Vec2
- _convexAngle: number
- _lineBody: Body
- _lineShape: Line
- _lineOffset: Vec2
- _lineAngle: number
- _justTest: boolean = false
Returns number

createContactEquation

createContactEquation(bodyA: Body, bodyB: Body, shapeA: Shape, shapeB: Shape): ContactEquation

- Defined in collision/Narrowphase.ts:211
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

createFrictionEquation

createFrictionEquation(bodyA: Body, bodyB: Body, shapeA: Shape, shapeB: Shape): FrictionEquation

- Defined in collision/Narrowphase.ts:238
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

createFrictionFromAverage

createFrictionFromAverage(numContacts: number): FrictionEquation

- Defined in collision/Narrowphase.ts:272
Parameters
- numContacts: number
Returns FrictionEquation

createFrictionFromContact

createFrictionFromContact(c: ContactEquation): FrictionEquation

- Defined in collision/Narrowphase.ts:263
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

lineBox

lineBox(_lineBody: Body, _lineShape: Line, _lineOffset: Vec2, _lineAngle: number, _boxBody: Body, _boxShape: Box, _boxOffset: Vec2, _boxAngle: number, _justTest?: boolean): number

- Defined in collision/Narrowphase.ts:343
Line/Box Narrowphase.

todo
Parameters
- _lineBody: Body
- _lineShape: Line
- _lineOffset: Vec2
- _lineAngle: number
- _boxBody: Body
- _boxShape: Box
- _boxOffset: Vec2
- _boxAngle: number
- _justTest: boolean = false
Returns number

lineCapsule

lineCapsule(_lineBody: Body, _lineShape: Line, _linePosition: Vec2, _lineAngle: number, _capsuleBody: Body, _capsuleShape: Capsule, _capsulePosition: Vec2, _capsuleAngle: number, _justTest?: boolean): number

- Defined in collision/Narrowphase.ts:451
Line/Capsule Narrowphase.

todo
Parameters
- _lineBody: Body
- _lineShape: Line
- _linePosition: Vec2
- _lineAngle: number
- _capsuleBody: Body
- _capsuleShape: Capsule
- _capsulePosition: Vec2
- _capsuleAngle: number
- _justTest: boolean = false
Returns number

lineLine

lineLine(_bodyA: Body, _shapeA: Line, _positionA: Vec2, _angleA: number, _bodyB: Body, _shapeB: Line, _positionB: Vec2, _angleB: number, _justTest?: boolean): number

- Defined in collision/Narrowphase.ts:600
Line/Line Narrowphase.

todo
Parameters
- _bodyA: Body
- _shapeA: Line
- _positionA: Vec2
- _angleA: number
- _bodyB: Body
- _shapeB: Line
- _positionB: Vec2
- _angleB: number
- _justTest: boolean = false
Returns number

particleCapsule

particleCapsule(particleBody: Body, particleShape: Particle, particlePosition: Vec2, particleAngle: number, capsuleBody: Body, capsuleShape: Capsule, capsulePosition: Vec2, capsuleAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:739
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

particleConvex

particleConvex(particleBody: Body, particleShape: Particle, particleOffset: Vec2, _particleAngle: number, convexBody: Body, convexShape: Convex, convexOffset: Vec2, convexAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1152
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

particlePlane

particlePlane(particleBody: Body, particleShape: Particle, particleOffset: Vec2, _particleAngle: number, planeBody: Body, planeShape: Plane, planeOffset: Vec2, planeAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1417
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

planeCapsule

planeCapsule(planeBody: Body, planeShape: Plane, planeOffset: Vec2, planeAngle: number, capsuleBody: Body, capsuleShape: Capsule, capsuleOffset: Vec2, capsuleAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1526
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

planeConvex

planeConvex(planeBody: Body, planeShape: Plane, planeOffset: Vec2, planeAngle: number, convexBody: Body, convexShape: Convex, convexOffset: Vec2, convexAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:1326
Plane/Convex Narrowphase.

todo
only use the deepest contact point + the contact point furthest away from it

Parameters
- planeBody: Body
- planeShape: Plane
- planeOffset: Vec2
- planeAngle: number
- convexBody: Body
- convexShape: Convex
- convexOffset: Vec2
- convexAngle: number
- justTest: boolean = false
Returns number

planeLine

planeLine(planeBody: Body, planeShape: Plane, planeOffset: Vec2, planeAngle: number, lineBody: Body, lineShape: Line, lineOffset: Vec2, lineAngle: number, justTest?: boolean): number

- Defined in collision/Narrowphase.ts:627
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

reset

reset(): void

- Defined in collision/Narrowphase.ts:179
Throws away the old equations and gets ready to create new

Returns void

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Returns Narrowphase

Properties

collidingBodiesLastStep

contactEquationPool

contactEquations

currentContactMaterial

enableFriction

enableFrictionReduction

enabledEquations

frictionEquationPool

frictionEquations

narrowphases

Type declaration

1: ((bodyA: Body, shapeA: Circle | Capsule, offsetA: Vec2, _angleA: number, bodyB: Body, shapeB: Circle | Capsule, offsetB: Vec2, _angleB: number, justTest?: boolean, radiusA?: number, radiusB?: number) => 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: Body, _shapeA: Line, _positionA: Vec2, _angleA: number, _bodyB: Body, _shapeB: Line, _positionB: Vec2, _angleB: number, _justTest?: boolean) => number)

Parameters

_bodyA: Body

_shapeA: Line

_positionA: Vec2

_angleA: number

_bodyB: Body

_shapeB: Line

_positionB: Vec2

_angleB: number

_justTest: boolean = false

Returns number

32: ((bodyA: Body, polyA: Convex, positionA: Vec2, angleA: number, bodyB: Body, polyB: Convex, positionB: Vec2, angleB: number, justTest?: boolean) => number)

Parameters

bodyA: Body

polyA: Convex

positionA: Vec2

angleA: number

bodyB: Body

polyB: Convex

positionB: Vec2

angleB: number

justTest: boolean = false

Returns number

64: ((bi: Body, si: Capsule, xi: Vec2, ai: number, bj: Body, sj: Capsule, xj: Vec2, aj: number, justTest?: boolean) => 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: Body, polyA: Convex, positionA: Vec2, angleA: number, bodyB: Body, polyB: Convex, positionB: Vec2, angleB: number, justTest?: boolean) => number)

Parameters

bodyA: Body

polyA: Convex

positionA: Vec2

angleA: number

bodyB: Body

polyB: Convex

positionB: Vec2

angleB: number