ConvexPolyhedron | cannon-es

A set of polygons describing a convex shape.

The shape MUST be convex for the code to work properly. No polygons may be coplanar (contained in the same 3D plane), instead these should be merged into one polygon.

author

qiao / https://github.com/qiao (original author, see https://github.com/qiao/three.js/commit/85026f0c769e4000148a67d45a9e9b9c5108836f)

author

schteppe / https://github.com/schteppe

see

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

todo

Move the clipping functions to ContactGenerator?

todo

Automatically merge coplanar polygons in constructor.

example

const convexShape = new CANNON.ConvexPolyhedron({ vertices, faces })
const convexBody = new CANNON.Body({ mass: 1, shape: convexShape })
world.addBody(convexBody)

Hierarchy

Shape
- ConvexPolyhedron
  - Cylinder

Constructors

constructor

new ConvexPolyhedron(props?: { axes?: Vec3[]; boundingSphereRadius?: number; faces?: number[][]; normals?: Vec3[]; vertices?: Vec3[] }): ConvexPolyhedron

Overrides Shape.constructor
- Defined in shapes/ConvexPolyhedron.ts:59
Parameters
- props: { axes?: Vec3[]; boundingSphereRadius?: number; faces?: number[][]; normals?: Vec3[]; vertices?: Vec3[] } = {}
  - Optional axes?: Vec3[]
    
    axes
  - Optional boundingSphereRadius?: number
    
    boundingSphereRadius
  - Optional faces?: number[][]
    
    Array of integer arrays, describing which vertices that is included in each face.
  - Optional normals?: Vec3[]
    
    normals
  - Optional vertices?: Vec3[]
    
    An array of Vec3's
Returns ConvexPolyhedron

Properties

body

body: null | Body

The body to which the shape is added to.

boundingSphereRadius

boundingSphereRadius: number

The local bounding sphere radius of this shape.

collisionResponse

collisionResponse: boolean

Whether to produce contact forces when in contact with other bodies. Note that contacts will be generated, but they will be disabled.

default: true

faceNormals

faceNormals: Vec3[]

faceNormals

faces

faces: number[][]

Array of integer arrays, indicating which vertices each face consists of

id

id: number

Identifier of the Shape.

material

material: null | Material

Optional material of the shape that regulates contact properties.

type

type: 0 | ShapeType

The type of this shape. Must be set to an int > 0 by subclasses.

uniqueAxes

uniqueAxes: null | Vec3[]

If given, these locally defined, normalized axes are the only ones being checked when doing separating axis check.

uniqueEdges

uniqueEdges: Vec3[]

uniqueEdges

vertices

vertices: Vec3[]

vertices

worldFaceNormals

worldFaceNormals: Vec3[]

worldFaceNormals

worldFaceNormalsNeedsUpdate

worldFaceNormalsNeedsUpdate: boolean

worldFaceNormalsNeedsUpdate

worldVertices

worldVertices: Vec3[]

worldVertices

worldVerticesNeedsUpdate

worldVerticesNeedsUpdate: boolean

worldVerticesNeedsUpdate

Static types

types: { BOX: 4; COMPOUND: 8; CONVEXPOLYHEDRON: 16; CYLINDER: 128; HEIGHTFIELD: 32; PARTICLE: 64; PLANE: 2; SPHERE: 1; TRIMESH: 256 } = SHAPE_TYPES

All the Shape types.

Type declaration

BOX: 4
COMPOUND: 8
CONVEXPOLYHEDRON: 16
CYLINDER: 128
HEIGHTFIELD: 32
PARTICLE: 64
PLANE: 2
SPHERE: 1
TRIMESH: 256

Methods

calculateLocalInertia

calculateLocalInertia(mass: number, target: Vec3): void

Overrides Shape.calculateLocalInertia
- Defined in shapes/ConvexPolyhedron.ts:401
calculateLocalInertia

Parameters
- mass: number
- target: Vec3
Returns void

calculateWorldAABB

calculateWorldAABB(pos: Vec3, quat: Quaternion, min: Vec3, max: Vec3): void

Overrides Shape.calculateWorldAABB
- Defined in shapes/ConvexPolyhedron.ts:686
calculateWorldAABB

Parameters
- pos: Vec3
- quat: Quaternion
- min: Vec3
- max: Vec3
Returns void

clipFaceAgainstHull

clipFaceAgainstHull(separatingNormal: Vec3, posA: Vec3, quatA: Quaternion, worldVertsB1: Vec3[], minDist: number, maxDist: number, result: ConvexPolyhedronContactPoint[]): void

- Defined in shapes/ConvexPolyhedron.ts:432
Clip a face against a hull.

Parameters
- separatingNormal: Vec3
- posA: Vec3
- quatA: Quaternion
- worldVertsB1: Vec3[]
  
  An array of Vec3 with vertices in the world frame.
- minDist: number
  
  Distance clamping
- maxDist: number
- result: ConvexPolyhedronContactPoint[]
Returns void

clipFaceAgainstPlane

clipFaceAgainstPlane(inVertices: Vec3[], outVertices: Vec3[], planeNormal: Vec3, planeConstant: number): Vec3[]

- Defined in shapes/ConvexPolyhedron.ts:561
Clip a face in a hull against the back of a plane.

Parameters
- inVertices: Vec3[]
- outVertices: Vec3[]
- planeNormal: Vec3
- planeConstant: number
  
  The constant in the mathematical plane equation
Returns Vec3[]

computeEdges

computeEdges(): void

- Defined in shapes/ConvexPolyhedron.ts:103
Computes uniqueEdges

Returns void

computeNormals

computeNormals(): void

- Defined in shapes/ConvexPolyhedron.ts:138
Compute the normals of the faces. Will reuse existing Vec3 objects in the faceNormals array if they exist.

Returns void

computeWorldFaceNormals

computeWorldFaceNormals(quat: Quaternion): void

- Defined in shapes/ConvexPolyhedron.ts:652
Updates worldVertices and sets worldVerticesNeedsUpdate to false.

Parameters
- quat: Quaternion
Returns void

computeWorldVertices

computeWorldVertices(position: Vec3, quat: Quaternion): void

- Defined in shapes/ConvexPolyhedron.ts:608
Updates .worldVertices and sets .worldVerticesNeedsUpdate to false.

Parameters
- position: Vec3
- quat: Quaternion
Returns void

findSeparatingAxis

findSeparatingAxis(hullB: ConvexPolyhedron, posA: Vec3, quatA: Quaternion, posB: Vec3, quatB: Quaternion, target: Vec3, faceListA?: null | number[], faceListB?: null | number[]): boolean

- Defined in shapes/ConvexPolyhedron.ts:241
Find the separating axis between this hull and another

Parameters
- hullB: ConvexPolyhedron
- posA: Vec3
- quatA: Quaternion
- posB: Vec3
- quatB: Quaternion
- target: Vec3
  
  The target vector to save the axis in
- Optional faceListA: null | number[]
- Optional faceListB: null | number[]
Returns boolean
Returns false if a separation is found, else true

getAveragePointLocal

getAveragePointLocal(target?: Vec3): Vec3

- Defined in shapes/ConvexPolyhedron.ts:738
Get an average of all the vertices positions

Parameters
- target: Vec3 = ...
Returns Vec3

getFaceNormal

getFaceNormal(i: number, target: Vec3): void

- Defined in shapes/ConvexPolyhedron.ts:169
Compute the normal of a face from its vertices

Parameters
- i: number
- target: Vec3
Returns void

pointIsInside

pointIsInside(p: Vec3): false | 1 | -1

- Defined in shapes/ConvexPolyhedron.ts:789
Checks whether p is inside the polyhedra. Must be in local coords. The point lies outside of the convex hull of the other points if and only if the direction of all the vectors from it to those other points are on less than one half of a sphere around it.

Parameters
- p: Vec3
  
  A point given in local coordinates
Returns false | 1 | -1

testSepAxis

testSepAxis(axis: Vec3, hullB: ConvexPolyhedron, posA: Vec3, quatA: Quaternion, posB: Vec3, quatB: Quaternion): number | false

- Defined in shapes/ConvexPolyhedron.ts:374
Test separating axis against two hulls. Both hulls are projected onto the axis and the overlap size is returned if there is one.

Parameters
- axis: Vec3
- hullB: ConvexPolyhedron
- posA: Vec3
- quatA: Quaternion
- posB: Vec3
- quatB: Quaternion
Returns number | false
The overlap depth, or FALSE if no penetration.

transformAllPoints

transformAllPoints(offset: Vec3, quat: Quaternion): void

- Defined in shapes/ConvexPolyhedron.ts:750
Transform all local points. Will change the .vertices

Parameters
- offset: Vec3
- quat: Quaternion
Returns void

updateBoundingSphereRadius

updateBoundingSphereRadius(): void

Overrides Shape.updateBoundingSphereRadius
- Defined in shapes/ConvexPolyhedron.ts:670
updateBoundingSphereRadius

Returns void

volume

volume(): number

Overrides Shape.volume
- Defined in shapes/ConvexPolyhedron.ts:731
Get approximate convex volume

Returns number

Static computeNormal

computeNormal(va: Vec3, vb: Vec3, vc: Vec3, target: Vec3): void

- Defined in shapes/ConvexPolyhedron.ts:180
Get face normal given 3 vertices

Parameters
- va: Vec3
- vb: Vec3
- vc: Vec3
- target: Vec3
Returns void

Static project

project(shape: ConvexPolyhedron, axis: Vec3, pos: Vec3, quat: Quaternion, result: number[]): void

- Defined in shapes/ConvexPolyhedron.ts:824
Get max and min dot product of a convex hull at position (pos,quat) projected onto an axis. Results are saved in the array maxmin.

Parameters
- shape: ConvexPolyhedron
- axis: Vec3
- pos: Vec3
- quat: Quaternion
- result: number[]
  
  result[0] and result[1] will be set to maximum and minimum, respectively.
Returns void

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

props: { axes?: Vec3[]; boundingSphereRadius?: number; faces?: number[][]; normals?: Vec3[]; vertices?: Vec3[] } = {}

Optional axes?: Vec3[]

Optional boundingSphereRadius?: number

Optional faces?: number[][]

Optional normals?: Vec3[]

Optional vertices?: Vec3[]

Returns ConvexPolyhedron

Properties

body

boundingSphereRadius

collisionResponse

faceNormals

faces

id

material

type

uniqueAxes

uniqueEdges

vertices

worldFaceNormals

worldFaceNormalsNeedsUpdate

worldVertices

worldVerticesNeedsUpdate

Static types

Type declaration

BOX: 4

COMPOUND: 8

CONVEXPOLYHEDRON: 16

CYLINDER: 128

HEIGHTFIELD: 32

PARTICLE: 64

PLANE: 2

SPHERE: 1

TRIMESH: 256

Methods

calculateLocalInertia

Parameters

mass: number

target: Vec3

Returns void

calculateWorldAABB

Parameters

pos: Vec3

quat: Quaternion

min: Vec3

max: Vec3

Returns void

clipFaceAgainstHull

Parameters

separatingNormal: Vec3

posA: Vec3

quatA: Quaternion

worldVertsB1: Vec3[]

minDist: number

maxDist: number

result: ConvexPolyhedronContactPoint[]

Returns void

clipFaceAgainstPlane

Parameters

inVertices: Vec3[]

outVertices: Vec3[]

planeNormal: Vec3

planeConstant: number

Returns Vec3[]

computeEdges

Returns void

computeNormals

Returns void

computeWorldFaceNormals

Parameters

quat: Quaternion

Returns void