API Docs for: 0.7.1
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Narrowphase Class

Defined in: src/collision/Narrowphase.js:43

Narrowphase. Creates contacts and friction given shapes and transforms.

Constructor

Narrowphase

()

Defined in src/collision/Narrowphase.js:43

Methods

bodiesOverlap

(
  • bodyA
  • bodyB
)
Boolean

Defined in src/collision/Narrowphase.js:176

Parameters:

Returns:

Boolean:

capsuleCapsule

(
  • bi
  • si
  • xi
  • ai
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:520

Capsule/capsule narrowphase

Parameters:

circleCapsule

(
  • bi
  • si
  • xi
  • ai
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:950

Circle/capsule Narrowphase

Parameters:

circleCircle

(
  • bodyA
  • shapeA
  • offsetA
  • angleA
  • bodyB
  • shapeB
  • offsetB
  • angleB
  • justTest
  • [radiusA]
  • [radiusB]
)

Defined in src/collision/Narrowphase.js:1308

Circle/circle Narrowphase

Parameters:

  • bodyA Body
  • shapeA Circle
  • offsetA Array
  • angleA Number
  • bodyB Body
  • shapeB Circle
  • offsetB Array
  • angleB Number
  • justTest Boolean
  • [radiusA] Number optional

    Optional radius to use for shapeA

  • [radiusB] Number optional

    Optional radius to use for shapeB

circleConvex

(
  • circleBody
  • circleShape
  • circleOffset
  • circleAngle
  • convexBody
  • convexShape
  • convexOffset
  • convexAngle
  • justTest
  • circleRadius
)

Defined in src/collision/Narrowphase.js:967

Circle/convex Narrowphase.

Parameters:

  • circleBody Body
  • circleShape Circle
  • circleOffset Array
  • circleAngle Number
  • convexBody Body
  • convexShape Convex
  • convexOffset Array
  • convexAngle Number
  • justTest Boolean
  • circleRadius Number

circleHeightfield

(
  • bi
  • si
  • xi
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:2355

Parameters:

circleHeightfield

(
  • bi
  • si
  • xi
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:2176

Parameters:

circleLine

(
  • circleBody
  • circleShape
  • circleOffset
  • circleAngle
  • lineBody
  • lineShape
  • lineOffset
  • lineAngle
  • justTest
  • lineRadius
  • circleRadius
)

Defined in src/collision/Narrowphase.js:780

Circle/line Narrowphase

Parameters:

  • circleBody Body
  • circleShape Circle
  • circleOffset Array
  • circleAngle Number
  • lineBody Body
  • lineShape Line
  • lineOffset Array
  • lineAngle Number
  • justTest Boolean

    If set to true, this function will return the result (intersection or not) without adding equations.

  • lineRadius Number

    Radius to add to the line. Can be used to test Capsules.

  • circleRadius Number

    If set, this value overrides the circle shape radius.

circleParticle

(
  • circleBody
  • circleShape
  • circleOffset
  • circleAngle
  • particleBody
  • particleShape
  • particleOffset
  • particleAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:1521

Circle/Particle Narrowphase

Parameters:

  • circleBody Body
  • circleShape Circle
  • circleOffset Array
  • circleAngle Number
  • particleBody Body
  • particleShape Particle
  • particleOffset Array
  • particleAngle Number
  • justTest Boolean

circlePlane

(
  • bi
  • si
  • xi
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:1652

Creates ContactEquations and FrictionEquations for a collision.

Parameters:

  • bi Body

    The first body that should be connected to the equations.

  • si Circle

    The circle shape participating in the collision.

  • xi Array

    Extra offset to take into account for the Shape, in addition to the one in circleBody.position. Will not be rotated by circleBody.angle (maybe it should, for sake of homogenity?). Set to null if none.

  • bj Body

    The second body that should be connected to the equations.

  • sj Plane

    The Plane shape that is participating

  • xj Array

    Extra offset for the plane shape.

  • aj Number

    Extra angle to apply to the plane

collidedLastStep

(
  • bodyA
  • bodyB
)
Boolean

Defined in src/collision/Narrowphase.js:218

Check if the bodies were in contact since the last reset().

Parameters:

Returns:

Boolean:

convexCapsule

(
  • convexBody
  • convexShape
  • convexPosition
  • convexAngle
  • capsuleBody
  • capsuleShape
  • capsulePosition
  • capsuleAngle
)

Defined in src/collision/Narrowphase.js:432

Convex/capsule narrowphase

Parameters:

  • convexBody Body
  • convexShape Convex
  • convexPosition Array
  • convexAngle Number
  • capsuleBody Body
  • capsuleShape Capsule
  • capsulePosition Array
  • capsuleAngle Number

convexConvex

(
  • bi
  • si
  • xi
  • ai
  • bj
  • sj
  • xj
  • aj
)

Defined in src/collision/Narrowphase.js:1722

Convex/convex Narrowphase.See this article for more info.

Parameters:

convexLine

(
  • convexBody
  • convexShape
  • convexOffset
  • convexAngle
  • lineBody
  • lineShape
  • lineOffset
  • lineAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:354

Convex/line narrowphase

Parameters:

  • convexBody Body
  • convexShape Convex
  • convexOffset Array
  • convexAngle Number
  • lineBody Body
  • lineShape Line
  • lineOffset Array
  • lineAngle Number
  • justTest Boolean

createContactEquation

(
  • bodyA
  • bodyB
)
ContactEquation

Defined in src/collision/Narrowphase.js:260

Creates a ContactEquation, either by reusing an existing object or creating a new one.

Parameters:

Returns:

ContactEquation:

createFrictionEquation

(
  • bodyA
  • bodyB
)
FrictionEquation

Defined in src/collision/Narrowphase.js:284

Creates a FrictionEquation, either by reusing an existing object or creating a new one.

Parameters:

Returns:

FrictionEquation:

createFrictionFromContact

(
  • contactEquation
)
FrictionEquation

Defined in src/collision/Narrowphase.js:308

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:

Returns:

FrictionEquation:

findSeparatingAxis

(
  • c1
  • offset1
  • angle1
  • c2
  • offset2
  • angle2
  • sepAxis
)
Boolean static

Defined in src/collision/Narrowphase.js:1956

Find a separating axis between the shapes, that maximizes the separating distance between them.

Parameters:

  • c1 Convex
  • offset1 Array
  • angle1 Number
  • c2 Convex
  • offset2 Array
  • angle2 Number
  • sepAxis Array

    The resulting axis

Returns:

Boolean:

Whether the axis could be found.

getClosestEdge

(
  • c
  • angle
  • axis
  • flip
)
Number static

Defined in src/collision/Narrowphase.js:2126

Get the edge that has a normal closest to an axis.

Parameters:

  • c Convex
  • angle Number
  • axis Array
  • flip Boolean

Returns:

Number:

Index of the edge that is closest. This index and the next spans the resulting edge. Returns -1 if failed.

lineBox

(
  • lineBody
  • lineShape
  • lineOffset
  • lineAngle
  • boxBody
  • boxShape
  • boxOffset
  • boxAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:388

Line/box narrowphase

Parameters:

  • lineBody Body
  • lineShape Line
  • lineOffset Array
  • lineAngle Number
  • boxBody Body
  • boxShape Box
  • boxOffset Array
  • boxAngle Number
  • justTest Boolean

lineCapsule

(
  • lineBody
  • lineShape
  • linePosition
  • lineAngle
  • capsuleBody
  • capsuleShape
  • capsulePosition
  • capsuleAngle
)

Defined in src/collision/Narrowphase.js:483

Capsule/line narrowphase

Parameters:

  • lineBody Body
  • lineShape Line
  • linePosition Array
  • lineAngle Number
  • capsuleBody Body
  • capsuleShape Capsule
  • capsulePosition Array
  • capsuleAngle Number

lineLine

(
  • bodyA
  • shapeA
  • positionA
  • angleA
  • bodyB
  • shapeB
  • positionB
  • angleB
)

Defined in src/collision/Narrowphase.js:625

Line/line narrowphase

Parameters:

  • bodyA Body
  • shapeA Line
  • positionA Array
  • angleA Number
  • bodyB Body
  • shapeB Line
  • positionB Array
  • angleB Number

particleConvex

(
  • particleBody
  • particleShape
  • particleOffset
  • particleAngle
  • convexBody
  • convexShape
  • convexOffset
  • convexAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:1178

Particle/convex Narrowphase

Parameters:

  • particleBody Body
  • particleShape Particle
  • particleOffset Array
  • particleAngle Number
  • convexBody Body
  • convexShape Convex
  • convexOffset Array
  • convexAngle Number
  • justTest Boolean

particlePlane

(
  • particleBody
  • particleShape
  • particleOffset
  • particleAngle
  • planeBody
  • planeShape
  • planeOffset
  • planeAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:1458

Narrowphase for particle vs plane

Parameters:

  • particleBody Body
  • particleShape Particle
  • particleOffset Array
  • particleAngle Number
  • planeBody Body
  • planeShape Plane
  • planeOffset Array
  • planeAngle Number
  • justTest Boolean

planeCapsule

(
  • planeBody
  • planeShape
  • planeOffset
  • planeAngle
  • capsuleBody
  • capsuleShape
  • capsuleOffset
  • capsuleAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:1582

Parameters:

  • planeBody Body
  • planeShape Circle
  • planeOffset Array
  • planeAngle Number
  • capsuleBody Body
  • capsuleShape Particle
  • capsuleOffset Array
  • capsuleAngle Number
  • justTest Boolean

planeConvex

(
  • planeBody
  • planeShape
  • planeOffset
  • planeAngle
  • convexBody
  • convexShape
  • convexOffset
  • convexAngle
  • justTest
)

Defined in src/collision/Narrowphase.js:1373

Plane/Convex Narrowphase

Parameters:

  • planeBody Body
  • planeShape Plane
  • planeOffset Array
  • planeAngle Number
  • convexBody Body
  • convexShape Convex
  • convexOffset Array
  • convexAngle Number
  • justTest Boolean

planeLine

(
  • planeBody
  • planeShape
  • planeOffset
  • planeAngle
  • lineBody
  • lineShape
  • lineOffset
  • lineAngle
)

Defined in src/collision/Narrowphase.js:658

Plane/line Narrowphase

Parameters:

  • planeBody Body
  • planeShape Plane
  • planeOffset Array
  • planeAngle Number
  • lineBody Body
  • lineShape Line
  • lineOffset Array
  • lineAngle Number

projectConvexOntoAxis

(
  • convexShape
  • convexOffset
  • convexAngle
  • worldAxis
  • result
)
static

Defined in src/collision/Narrowphase.js:1904

Project a Convex onto a world-oriented axis

Parameters:

  • convexShape Convex
  • convexOffset Array
  • convexAngle Number
  • worldAxis Array
  • result Array

reset

()

Defined in src/collision/Narrowphase.js:231

Throws away the old equations and gets ready to create new

Properties

collidingBodiesLastStep

TupleDictionary private

Defined in src/collision/Narrowphase.js:157

Keeps track of the colliding bodies last step.

contactEquationPool

ContactEquationPool

Defined in src/collision/Narrowphase.js:96

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

Array

Defined in src/collision/Narrowphase.js:50

contactSkinSize

Number

Defined in src/collision/Narrowphase.js:165

Contact skin size value to use in the next contact equations.

Default: 0.01

enabledEquations

Boolean

Defined in src/collision/Narrowphase.js:69

Whether to make equations enabled in upcoming contacts.

enableFriction

Boolean

Defined in src/collision/Narrowphase.js:62

Whether to make friction equations in the upcoming contacts.

enableFrictionReduction

Boolean deprecated

Defined in src/collision/Narrowphase.js:148

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

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.

Default: true

frictionCoefficient

Number

Defined in src/collision/Narrowphase.js:83

The friction value to use in the upcoming friction equations.

frictionEquationPool

FrictionEquationPool

Defined in src/collision/Narrowphase.js:109

Keeps track of the allocated ContactEquations.

frictionEquations

Array

Defined in src/collision/Narrowphase.js:56

frictionRelaxation

Number

Defined in src/collision/Narrowphase.js:141

The relaxation value to use in the next friction equations.

frictionStiffness

Number

Defined in src/collision/Narrowphase.js:134

The stiffness value to use in the next friction equations.

restitution

Number

Defined in src/collision/Narrowphase.js:115

The restitution value to use in the next contact equations.

slipForce

Number

Defined in src/collision/Narrowphase.js:76

The friction slip force to use when creating friction equations.

stiffness

Number

Defined in src/collision/Narrowphase.js:128

The stiffness value to use in the next contact equations.

stiffness

Number

Defined in src/collision/Narrowphase.js:122

The stiffness value to use in the next contact equations.

surfaceVelocity

Number

Defined in src/collision/Narrowphase.js:90

Will be the .relativeVelocity in each produced FrictionEquation.