Class Narrowphase

Helper class for the World. Generates ContactEquations.

Todo

Sphere-ConvexPolyhedron contacts

Todo

Contact reduction

Todo

should move methods to prototype

Constructors

constructor

new Narrowphase(world): Narrowphase
Parameters
- world: World
Returns Narrowphase

Properties

contactPointPool

contactPointPool: ContactEquation[]

Internal storage of pooled contact points.

currentContactMaterial

currentContactMaterial: ContactMaterial

enableFrictionReduction

enableFrictionReduction: boolean

frictionEquationPool

frictionEquationPool: FrictionEquation[]

frictionResult

frictionResult: FrictionEquation[]

result

result: ContactEquation[]

v3pool

v3pool: Vec3Pool

Pooled vectors.

world

world: World

Accessors

1

get 1(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => boolean | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => boolean | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): boolean | void
  - Parameters
    - si: Sphere
    - sj: Sphere
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns boolean | void

128

get 128(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?): true | void
  - Parameters
    - si: ConvexPolyhedron
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    - Optional faceListA: number[]
    - Optional faceListB: number[]
    Returns true | void

129

get 129(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Sphere
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

130

get 130(): ((planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?) => true | void)
Returns ((planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?) => true | void)
- - (planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?): true | void
  - Parameters
    - planeShape: Plane
    - convexShape: ConvexPolyhedron
    - planePosition: Vec3
    - convexPosition: Vec3
    - planeQuat: Quaternion
    - convexQuat: Quaternion
    - planeBody: Body
    - convexBody: Body
    - Optional si: Shape
    - Optional sj: Shape
    - Optional justTest: boolean
    Returns true | void

132

get 132(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Box
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

144

get 144(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?): true | void
  - Parameters
    - si: ConvexPolyhedron
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    - Optional faceListA: number[]
    - Optional faceListB: number[]
    Returns true | void

16

get 16(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?): true | void
  - Parameters
    - si: ConvexPolyhedron
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    - Optional faceListA: number[]
    - Optional faceListB: number[]
    Returns true | void

160

get 160(): ((hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi?, rsj?, justTest?) => true | void)
Returns ((hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi?, rsj?, justTest?) => true | void)
- - (hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi?, rsj?, justTest?): true | void
  - Parameters
    - hfShape: Heightfield
    - convexShape: Cylinder
    - hfPos: Vec3
    - convexPos: Vec3
    - hfQuat: Quaternion
    - convexQuat: Quaternion
    - hfBody: Body
    - convexBody: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

17

get 17(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Sphere
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

18

get 18(): ((planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?) => true | void)
Returns ((planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?) => true | void)
- - (planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?): true | void
  - Parameters
    - planeShape: Plane
    - convexShape: ConvexPolyhedron
    - planePosition: Vec3
    - convexPosition: Vec3
    - planeQuat: Quaternion
    - convexQuat: Quaternion
    - planeBody: Body
    - convexBody: Body
    - Optional si: Shape
    - Optional sj: Shape
    - Optional justTest: boolean
    Returns true | void

192

get 192(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Particle2
    - sj: Cylinder
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

20

get 20(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Box
    - sj: ConvexPolyhedron
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

257

get 257(): ((sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi?, rsj?, justTest?) => true | void)
Returns ((sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi?, rsj?, justTest?) => true | void)
- - (sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi?, rsj?, justTest?): true | void
  - Parameters
    - sphereShape: Sphere
    - trimeshShape: Trimesh
    - spherePos: Vec3
    - trimeshPos: Vec3
    - sphereQuat: Quaternion
    - trimeshQuat: Quaternion
    - sphereBody: Body
    - trimeshBody: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

258

get 258(): ((planeShape, trimeshShape, planePos, trimeshPos, planeQuat, trimeshQuat, planeBody, trimeshBody, rsi?, rsj?, justTest?) => true | void)
Returns ((planeShape, trimeshShape, planePos, trimeshPos, planeQuat, trimeshQuat, planeBody, trimeshBody, rsi?, rsj?, justTest?) => true | void)
- - (planeShape, trimeshShape, planePos, trimeshPos, planeQuat, trimeshQuat, planeBody, trimeshBody, rsi?, rsj?, justTest?): true | void
  - Parameters
    - planeShape: Plane
    - trimeshShape: Trimesh
    - planePos: Vec3
    - trimeshPos: Vec3
    - planeQuat: Quaternion
    - trimeshQuat: Quaternion
    - planeBody: Body
    - trimeshBody: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

3

get 3(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Sphere
    - sj: Plane
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

33

get 33(): ((sphereShape, hfShape, spherePos, hfPos, sphereQuat, hfQuat, sphereBody, hfBody, rsi?, rsj?, justTest?) => true | void)
Returns ((sphereShape, hfShape, spherePos, hfPos, sphereQuat, hfQuat, sphereBody, hfBody, rsi?, rsj?, justTest?) => true | void)
- - (sphereShape, hfShape, spherePos, hfPos, sphereQuat, hfQuat, sphereBody, hfBody, rsi?, rsj?, justTest?): true | void
  - Parameters
    - sphereShape: Sphere
    - hfShape: Heightfield
    - spherePos: Vec3
    - hfPos: Vec3
    - sphereQuat: Quaternion
    - hfQuat: Quaternion
    - sphereBody: Body
    - hfBody: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

36

get 36(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Box
    - sj: Heightfield
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

4

get 4(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Box
    - sj: Box
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

48

get 48(): ((convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi?, rsj?, justTest?) => true | void)
Returns ((convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi?, rsj?, justTest?) => true | void)
- - (convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi?, rsj?, justTest?): true | void
  - Parameters
    - convexShape: ConvexPolyhedron
    - hfShape: Heightfield
    - convexPos: Vec3
    - hfPos: Vec3
    - convexQuat: Quaternion
    - hfQuat: Quaternion
    - convexBody: Body
    - hfBody: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

5

get 5(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Sphere
    - sj: Box
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

6

get 6(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Plane
    - sj: Box
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

65

get 65(): ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
Returns ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
- - (sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
  - Parameters
    - sj: Sphere
    - si: Particle2
    - xj: Vec3
    - xi: Vec3
    - qj: Quaternion
    - qi: Quaternion
    - bj: Body
    - bi: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

66

get 66(): ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
Returns ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
- - (sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
  - Parameters
    - sj: Plane
    - si: Particle2
    - xj: Vec3
    - xi: Vec3
    - qj: Quaternion
    - qi: Quaternion
    - bj: Body
    - bi: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

68

get 68(): ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)
- - (si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
  - Parameters
    - si: Box
    - sj: Particle2
    - xi: Vec3
    - xj: Vec3
    - qi: Quaternion
    - qj: Quaternion
    - bi: Body
    - bj: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

80

get 80(): ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
Returns ((sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?) => true | void)
- - (sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
  - Parameters
    - sj: ConvexPolyhedron
    - si: Particle2
    - xj: Vec3
    - xi: Vec3
    - qj: Quaternion
    - qi: Quaternion
    - bj: Body
    - bi: Body
    - Optional rsi: Shape
    - Optional rsj: Shape
    - Optional justTest: boolean
    Returns true | void

Methods

boxBox

boxBox(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Box
- sj: Box
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

boxConvex

boxConvex(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Box
- sj: ConvexPolyhedron
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

boxHeightfield

boxHeightfield(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Box
- sj: Heightfield
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

boxParticle

boxParticle(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Box
- sj: Particle2
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

convexConvex

convexConvex(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?): true | void
Parameters
- si: ConvexPolyhedron
- sj: ConvexPolyhedron
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
- Optional faceListA: number[]
- Optional faceListB: number[]
Returns true | void

convexHeightfield

convexHeightfield(convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi?, rsj?, justTest?): true | void
Parameters
- convexShape: ConvexPolyhedron
- hfShape: Heightfield
- convexPos: Vec3
- hfPos: Vec3
- convexQuat: Quaternion
- hfQuat: Quaternion
- convexBody: Body
- hfBody: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

convexParticle

convexParticle(sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
Parameters
- sj: ConvexPolyhedron
- si: Particle2
- xj: Vec3
- xi: Vec3
- qj: Quaternion
- qi: Quaternion
- bj: Body
- bi: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

createContactEquation

createContactEquation(bi, bj, si, sj, overrideShapeA?, overrideShapeB?): ContactEquation
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: Shape
- Optional overrideShapeB: Shape
Returns ContactEquation

createFrictionEquationsFromContact

createFrictionEquationsFromContact(contactEquation, outArray): boolean
Parameters
- contactEquation: ContactEquation
- outArray: FrictionEquation[]
Returns boolean

createFrictionFromAverage

createFrictionFromAverage(numContacts): void
Take the average N latest contact point on the plane.
Parameters
- numContacts: number
Returns void

getContacts

getContacts(p1, p2, world, result, oldcontacts, frictionResult, frictionPool): void
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

heightfieldCylinder

heightfieldCylinder(hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi?, rsj?, justTest?): true | void
Parameters
- hfShape: Heightfield
- convexShape: Cylinder
- hfPos: Vec3
- convexPos: Vec3
- hfQuat: Quaternion
- convexQuat: Quaternion
- hfBody: Body
- convexBody: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

particleCylinder

particleCylinder(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Particle2
- sj: Cylinder
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

planeBox

planeBox(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Plane
- sj: Box
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

planeConvex

planeConvex(planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?): true | void
Parameters
- planeShape: Plane
- convexShape: ConvexPolyhedron
- planePosition: Vec3
- convexPosition: Vec3
- planeQuat: Quaternion
- convexQuat: Quaternion
- planeBody: Body
- convexBody: Body
- Optional si: Shape
- Optional sj: Shape
- Optional justTest: boolean
Returns true | void

planeParticle

planeParticle(sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
Parameters
- sj: Plane
- si: Particle2
- xj: Vec3
- xi: Vec3
- qj: Quaternion
- qi: Quaternion
- bj: Body
- bi: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

planeTrimesh

planeTrimesh(planeShape, trimeshShape, planePos, trimeshPos, planeQuat, trimeshQuat, planeBody, trimeshBody, rsi?, rsj?, justTest?): true | void
Parameters
- planeShape: Plane
- trimeshShape: Trimesh
- planePos: Vec3
- trimeshPos: Vec3
- planeQuat: Quaternion
- trimeshQuat: Quaternion
- planeBody: Body
- trimeshBody: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

sphereBox

sphereBox(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Sphere
- sj: Box
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

sphereConvex

sphereConvex(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Sphere
- sj: ConvexPolyhedron
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

sphereHeightfield

sphereHeightfield(sphereShape, hfShape, spherePos, hfPos, sphereQuat, hfQuat, sphereBody, hfBody, rsi?, rsj?, justTest?): true | void
Parameters
- sphereShape: Sphere
- hfShape: Heightfield
- spherePos: Vec3
- hfPos: Vec3
- sphereQuat: Quaternion
- hfQuat: Quaternion
- sphereBody: Body
- hfBody: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

sphereParticle

sphereParticle(sj, si, xj, xi, qj, qi, bj, bi, rsi?, rsj?, justTest?): true | void
Parameters
- sj: Sphere
- si: Particle2
- xj: Vec3
- xi: Vec3
- qj: Quaternion
- qi: Quaternion
- bj: Body
- bi: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

spherePlane

spherePlane(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): true | void
Parameters
- si: Sphere
- sj: Plane
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

sphereSphere

sphereSphere(si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?): boolean | void
Parameters
- si: Sphere
- sj: Sphere
- xi: Vec3
- xj: Vec3
- qi: Quaternion
- qj: Quaternion
- bi: Body
- bj: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns boolean | void

sphereTrimesh

sphereTrimesh(sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi?, rsj?, justTest?): true | void
Parameters
- sphereShape: Sphere
- trimeshShape: Trimesh
- spherePos: Vec3
- trimeshPos: Vec3
- sphereQuat: Quaternion
- trimeshQuat: Quaternion
- sphereBody: Body
- trimeshBody: Body
- Optional rsi: Shape
- Optional rsj: Shape
- Optional justTest: boolean
Returns true | void

Class Narrowphase

Todo

Todo

Todo

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

world: World

Returns Narrowphase

Properties

contactPointPool

currentContactMaterial

enableFrictionReduction

frictionEquationPool

frictionResult

result

v3pool

world

Accessors

1

Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => boolean | void)

Parameters

si: Sphere

sj: Sphere

xi: Vec3

xj: Vec3

qi: Quaternion

qj: Quaternion

bi: Body

bj: Body

Optional rsi: Shape

Optional rsj: Shape

Optional justTest: boolean

Returns boolean | void

128

Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?, faceListA?, faceListB?) => true | void)

Parameters

si: ConvexPolyhedron

sj: ConvexPolyhedron

xi: Vec3

xj: Vec3

qi: Quaternion

qj: Quaternion

bi: Body

bj: Body

Optional rsi: Shape

Optional rsj: Shape

Optional justTest: boolean

Optional faceListA: number[]

Optional faceListB: number[]

Returns true | void

129

Returns ((si, sj, xi, xj, qi, qj, bi, bj, rsi?, rsj?, justTest?) => true | void)

Parameters

si: Sphere

sj: ConvexPolyhedron

xi: Vec3

xj: Vec3

qi: Quaternion

qj: Quaternion

bi: Body

bj: Body

Optional rsi: Shape

Optional rsj: Shape

Optional justTest: boolean

Returns true | void

130

Returns ((planeShape, convexShape, planePosition, convexPosition, planeQuat, convexQuat, planeBody, convexBody, si?, sj?, justTest?) => true | void)

Parameters

planeShape: Plane

convexShape: ConvexPolyhedron

planePosition: Vec3

convexPosition: Vec3

planeQuat: Quaternion

convexQuat: Quaternion

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` faceListA: number[]

`Optional` faceListB: number[]

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` si: Shape

`Optional` sj: Shape

`Optional` justTest: boolean

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` faceListA: number[]

`Optional` faceListB: number[]

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean

`Optional` faceListA: number[]

`Optional` faceListB: number[]

`Optional` rsi: Shape

`Optional` rsj: Shape

`Optional` justTest: boolean