Class Narrowphase

Helper class for the World. Generates ContactEquations.

todo: Sphere-ConvexPolyhedron contacts
todo: Contact reduction
todo: should move methods to prototype

Hierarchy

Narrowphase

Index

Constructors

constructor

Properties

Methods

Constructors

constructor

new Narrowphase(world: World): Narrowphase

- Defined in world/Narrowphase.ts:157
Parameters
- world: World
Returns Narrowphase

Properties

contactPointPool

contactPointPool: ContactEquation[]

Internal storage of pooled contact points.

v3pool

v3pool: Vec3Pool

Pooled vectors.

Methods

createContactEquation

createContactEquation(bi: Body, bj: Body, si: Shape, sj: Shape, overrideShapeA?: null | Shape, overrideShapeB?: null | Shape): ContactEquation

- Defined in world/Narrowphase.ts:171
Make a contact object, by using the internal pool or creating a new one.

Parameters
- bi: Body
- bj: Body
- si: Shape
- sj: Shape
- Optional overrideShapeA: null | Shape
- Optional overrideShapeB: null | Shape
Returns ContactEquation

createFrictionFromAverage

createFrictionFromAverage(numContacts: number): void

- Defined in world/Narrowphase.ts:268
Take the average N latest contact point on the plane.

Parameters
- numContacts: number
Returns void

getContacts

getContacts(p1: Body[], p2: Body[], world: World, result: ContactEquation[], oldcontacts: ContactEquation[], frictionResult: FrictionEquation[], frictionPool: FrictionEquation[]): void

- Defined in world/Narrowphase.ts:316
Generate all contacts between a list of body pairs

Parameters
- p1: Body[]
  
  Array of body indices
- p2: Body[]
  
  Array of body indices
- world: World
- result: ContactEquation[]
  
  Array to store generated contacts
- oldcontacts: ContactEquation[]
  
  Optional. Array of reusable contact objects
- frictionResult: FrictionEquation[]
- frictionPool: FrictionEquation[]
Returns void