cannon
Version:
A lightweight 3D physics engine written in JavaScript.
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<em>API Docs for: 0.6.1</em>
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<li><a href="../classes/AABB.html">AABB</a></li>
<li><a href="../classes/ArrayCollisionMatrix.html">ArrayCollisionMatrix</a></li>
<li><a href="../classes/Body.html">Body</a></li>
<li><a href="../classes/Box.html">Box</a></li>
<li><a href="../classes/Broadphase.html">Broadphase</a></li>
<li><a href="../classes/ConeEquation.html">ConeEquation</a></li>
<li><a href="../classes/ConeTwistConstraint.html">ConeTwistConstraint</a></li>
<li><a href="../classes/Constraint.html">Constraint</a></li>
<li><a href="../classes/ContactEquation.html">ContactEquation</a></li>
<li><a href="../classes/ContactMaterial.html">ContactMaterial</a></li>
<li><a href="../classes/ConvexPolyhedron.html">ConvexPolyhedron</a></li>
<li><a href="../classes/Cylinder.html">Cylinder</a></li>
<li><a href="../classes/Demo.html">Demo</a></li>
<li><a href="../classes/DistanceConstraint.html">DistanceConstraint</a></li>
<li><a href="../classes/Equation.html">Equation</a></li>
<li><a href="../classes/EventTarget.html">EventTarget</a></li>
<li><a href="../classes/FrictionEquation.html">FrictionEquation</a></li>
<li><a href="../classes/GridBroadphase.html">GridBroadphase</a></li>
<li><a href="../classes/GSSolver.html">GSSolver</a></li>
<li><a href="../classes/Heightfield.html">Heightfield</a></li>
<li><a href="../classes/HingeConstraint.html">HingeConstraint</a></li>
<li><a href="../classes/JacobianElement.html">JacobianElement</a></li>
<li><a href="../classes/LockConstraint.html">LockConstraint</a></li>
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<li><a href="../classes/OctreeNode.html">OctreeNode</a></li>
<li><a href="../classes/Particle.html">Particle</a></li>
<li><a href="../classes/Plane.html">Plane</a></li>
<li><a href="../classes/PointToPointConstraint.html">PointToPointConstraint</a></li>
<li><a href="../classes/Pool.html">Pool</a></li>
<li><a href="../classes/Quaternion.html">Quaternion</a></li>
<li><a href="../classes/Ray.html">Ray</a></li>
<li><a href="../classes/RaycastResult.html">RaycastResult</a></li>
<li><a href="../classes/RaycastVehicle.html">RaycastVehicle</a></li>
<li><a href="../classes/RigidVehicle.html">RigidVehicle</a></li>
<li><a href="../classes/RotationalEquation.html">RotationalEquation</a></li>
<li><a href="../classes/RotationalMotorEquation.html">RotationalMotorEquation</a></li>
<li><a href="../classes/SAPBroadphase.html">SAPBroadphase</a></li>
<li><a href="../classes/Shape.html">Shape</a></li>
<li><a href="../classes/Solver.html">Solver</a></li>
<li><a href="../classes/Sphere.html">Sphere</a></li>
<li><a href="../classes/SPHSystem.html">SPHSystem</a></li>
<li><a href="../classes/SplitSolver.html">SplitSolver</a></li>
<li><a href="../classes/Spring.html">Spring</a></li>
<li><a href="../classes/Transform.html">Transform</a></li>
<li><a href="../classes/Trimesh.html">Trimesh</a></li>
<li><a href="../classes/TupleDictionary.html">TupleDictionary</a></li>
<li><a href="../classes/Vec3.html">Vec3</a></li>
<li><a href="../classes/Vec3Pool.html">Vec3Pool</a></li>
<li><a href="../classes/WheelInfo.html">WheelInfo</a></li>
<li><a href="../classes/World.html">World</a></li>
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<ul id="api-modules" class="apis modules">
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Protected
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Private
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<div class="apidocs">
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<div class="content">
<h1>ContactEquation Class</h1>
<div class="box meta">
<div class="extends">
Extends <a href="../classes/Equation.html" class="crosslink">Equation</a>
</div>
<div class="foundat">
Defined in: <a href="../files/src_equations_ContactEquation.js.html#l7"><code>src/equations/ContactEquation.js:7</code></a>
</div>
</div>
<div class="box intro">
<p>Contact/non-penetration constraint equation</p>
</div>
<div class="constructor">
<h2>Constructor</h2>
<div id="method_ContactEquation" class="method item">
<h3 class="name"><code>ContactEquation</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>bodyA</code>
</li>
<li class="arg">
<code>bodyB</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l7"><code>src/equations/ContactEquation.js:7</code></a>
</p>
</div>
<div class="description">
</div>
<div class="params">
<h4>Parameters:</h4>
<ul class="params-list">
<li class="param">
<code class="param-name">bodyA</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bodyB</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
</div>
<div id="classdocs" class="tabview">
<ul class="api-class-tabs">
<li class="api-class-tab index"><a href="#index">Index</a></li>
<li class="api-class-tab methods"><a href="#methods">Methods</a></li>
<li class="api-class-tab properties"><a href="#properties">Properties</a></li>
</ul>
<div>
<div id="index" class="api-class-tabpanel index">
<h2 class="off-left">Item Index</h2>
<div class="index-section methods">
<h3>Methods</h3>
<ul class="index-list methods extends">
<li class="index-item method inherited">
<a href="#method_addToWlambda">addToWlambda</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeB">computeB</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeGiMf">computeGiMf</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeGiMGt">computeGiMGt</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeGq">computeGq</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeGW">computeGW</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeGWlambda">computeGWlambda</a>
</li>
<li class="index-item method inherited">
<a href="#method_computeInvC">computeInvC</a>
</li>
<li class="index-item method">
<a href="#method_getImpactVelocityAlongNormal">getImpactVelocityAlongNormal</a>
</li>
<li class="index-item method inherited">
<a href="#method_setSpookParams">setSpookParams</a>
</li>
</ul>
</div>
<div class="index-section properties">
<h3>Properties</h3>
<ul class="index-list properties extends">
<li class="index-item property inherited">
<a href="#property_a">a</a>
</li>
<li class="index-item property inherited">
<a href="#property_b">b</a>
</li>
<li class="index-item property inherited">
<a href="#property_bi">bi</a>
</li>
<li class="index-item property inherited">
<a href="#property_bj">bj</a>
</li>
<li class="index-item property inherited">
<a href="#property_enabled">enabled</a>
</li>
<li class="index-item property inherited">
<a href="#property_eps">eps</a>
</li>
<li class="index-item property inherited">
<a href="#property_jacobianElementA">jacobianElementA</a>
</li>
<li class="index-item property inherited">
<a href="#property_jacobianElementB">jacobianElementB</a>
</li>
<li class="index-item property inherited">
<a href="#property_maxForce">maxForce</a>
</li>
<li class="index-item property inherited">
<a href="#property_minForce">minForce</a>
</li>
<li class="index-item property">
<a href="#property_ni">ni</a>
</li>
<li class="index-item property">
<a href="#property_restitution">restitution</a>
</li>
<li class="index-item property">
<a href="#property_ri">ri</a>
</li>
<li class="index-item property">
<a href="#property_rj">rj</a>
</li>
</ul>
</div>
</div>
<div id="methods" class="api-class-tabpanel">
<h2 class="off-left">Methods</h2>
<div id="method_addToWlambda" class="method item inherited">
<h3 class="name"><code>addToWlambda</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>deltalambda</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_addToWlambda">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l228"><code>src/equations/Equation.js:228</code></a>
</p>
</div>
<div class="description">
<p>Add constraint velocity to the bodies.</p>
</div>
<div class="params">
<h4>Parameters:</h4>
<ul class="params-list">
<li class="param">
<code class="param-name">deltalambda</code>
<span class="type">Number</span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_computeB" class="method item inherited">
<h3 class="name"><code>computeB</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeB">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l95"><code>src/equations/Equation.js:95</code></a>
</p>
</div>
<div class="description">
<p>Computes the RHS of the SPOOK equation</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeGiMf" class="method item inherited">
<h3 class="name"><code>computeGiMf</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeGiMf">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l159"><code>src/equations/Equation.js:159</code></a>
</p>
</div>
<div class="description">
<p>Computes G<em>inv(M)</em>f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeGiMGt" class="method item inherited">
<h3 class="name"><code>computeGiMGt</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeGiMGt">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l191"><code>src/equations/Equation.js:191</code></a>
</p>
</div>
<div class="description">
<p>Computes G<em>inv(M)</em>G'</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeGq" class="method item inherited">
<h3 class="name"><code>computeGq</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeGq">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l107"><code>src/equations/Equation.js:107</code></a>
</p>
</div>
<div class="description">
<p>Computes G*q, where q are the generalized body coordinates</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeGW" class="method item inherited">
<h3 class="name"><code>computeGW</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeGW">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l124"><code>src/equations/Equation.js:124</code></a>
</p>
</div>
<div class="description">
<p>Computes G*W, where W are the body velocities</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeGWlambda" class="method item inherited">
<h3 class="name"><code>computeGWlambda</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeGWlambda">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l142"><code>src/equations/Equation.js:142</code></a>
</p>
</div>
<div class="description">
<p>Computes G*Wlambda, where W are the body velocities</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_computeInvC" class="method item inherited">
<h3 class="name"><code>computeInvC</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>eps</code>
</li>
</ul><span class="paren">)</span>
</div>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_computeInvC">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l262"><code>src/equations/Equation.js:262</code></a>
</p>
</div>
<div class="description">
<p>Compute the denominator part of the SPOOK equation: C = G<em>inv(M)</em>G' + eps</p>
</div>
<div class="params">
<h4>Parameters:</h4>
<ul class="params-list">
<li class="param">
<code class="param-name">eps</code>
<span class="type">Number</span>
<div class="param-description">
</div>
</li>
</ul>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_getImpactVelocityAlongNormal" class="method item">
<h3 class="name"><code>getImpactVelocityAlongNormal</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type">Number</span>
</span>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l113"><code>src/equations/ContactEquation.js:113</code></a>
</p>
</div>
<div class="description">
<p>Get the current relative velocity in the contact point.</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type">Number</span>:
</div>
</div>
</div>
<div id="method_setSpookParams" class="method item inherited">
<h3 class="name"><code>setSpookParams</code></h3>
<span class="paren">()</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#method_setSpookParams">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l82"><code>src/equations/Equation.js:82</code></a>
</p>
</div>
<div class="description">
<p>Recalculates a,b,eps.</p>
</div>
</div>
</div>
<div id="properties" class="api-class-tabpanel">
<h2 class="off-left">Properties</h2>
<div id="property_a" class="property item inherited">
<h3 class="name"><code>a</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_a">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l41"><code>src/equations/Equation.js:41</code></a>
</p>
</div>
<div class="description">
<p>SPOOK parameter</p>
</div>
</div>
<div id="property_b" class="property item inherited">
<h3 class="name"><code>b</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_b">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l47"><code>src/equations/Equation.js:47</code></a>
</p>
</div>
<div class="description">
<p>SPOOK parameter</p>
</div>
</div>
<div id="property_bi" class="property item inherited">
<h3 class="name"><code>bi</code></h3>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_bi">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l29"><code>src/equations/Equation.js:29</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_bj" class="property item inherited">
<h3 class="name"><code>bj</code></h3>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_bj">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l35"><code>src/equations/Equation.js:35</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_enabled" class="property item inherited">
<h3 class="name"><code>enabled</code></h3>
<span class="type">Boolean</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_enabled">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l69"><code>src/equations/Equation.js:69</code></a>
</p>
</div>
<div class="description">
</div>
<p><strong>Default:</strong> true</p>
</div>
<div id="property_eps" class="property item inherited">
<h3 class="name"><code>eps</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_eps">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l53"><code>src/equations/Equation.js:53</code></a>
</p>
</div>
<div class="description">
<p>SPOOK parameter</p>
</div>
</div>
<div id="property_jacobianElementA" class="property item inherited">
<h3 class="name"><code>jacobianElementA</code></h3>
<span class="type"><a href="../classes/JacobianElement.html" class="crosslink">JacobianElement</a></span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_jacobianElementA">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l59"><code>src/equations/Equation.js:59</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_jacobianElementB" class="property item inherited">
<h3 class="name"><code>jacobianElementB</code></h3>
<span class="type"><a href="../classes/JacobianElement.html" class="crosslink">JacobianElement</a></span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_jacobianElementB">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l64"><code>src/equations/Equation.js:64</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_maxForce" class="property item inherited">
<h3 class="name"><code>maxForce</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_maxForce">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l24"><code>src/equations/Equation.js:24</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_minForce" class="property item inherited">
<h3 class="name"><code>minForce</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>Inherited from
<a href="../classes/Equation.html#property_minForce">Equation</a>:
<a href="../files/src_equations_Equation.js.html#l19"><code>src/equations/Equation.js:19</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_ni" class="property item">
<h3 class="name"><code>ni</code></h3>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l38"><code>src/equations/ContactEquation.js:38</code></a>
</p>
</div>
<div class="description">
<p>Contact normal, pointing out of body i.</p>
</div>
</div>
<div id="property_restitution" class="property item">
<h3 class="name"><code>restitution</code></h3>
<span class="type">Number</span>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l20"><code>src/equations/ContactEquation.js:20</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="property_ri" class="property item">
<h3 class="name"><code>ri</code></h3>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l26"><code>src/equations/ContactEquation.js:26</code></a>
</p>
</div>
<div class="description">
<p>World-oriented vector that goes from the center of bi to the contact point.</p>
</div>
</div>
<div id="property_rj" class="property item">
<h3 class="name"><code>rj</code></h3>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="meta">
<p>
Defined in
<a href="../files/src_equations_ContactEquation.js.html#l32"><code>src/equations/ContactEquation.js:32</code></a>
</p>
</div>
<div class="description">
<p>World-oriented vector that starts in body j position and goes to the contact point.</p>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
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