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/ConeTwistConstraint.html">ConeTwistConstraint</a></li>
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<li><a href="../classes/ContactEquation.html">ContactEquation</a></li>
<li><a href="../classes/ContactMaterial.html">ContactMaterial</a></li>
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<li><a href="../classes/World.html">World</a></li>
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<h1>Narrowphase Class</h1>
<div class="box meta">
<div class="foundat">
Defined in: <a href="../files/src_world_Narrowphase.js.html#l15"><code>src/world/Narrowphase.js:15</code></a>
</div>
</div>
<div class="box intro">
<p>Helper class for the World. Generates ContactEquations.</p>
</div>
<div class="constructor">
<h2>Constructor</h2>
<div id="method_Narrowphase" class="method item">
<h3 class="name"><code>Narrowphase</code></h3>
<span class="paren">()</span>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l15"><code>src/world/Narrowphase.js:15</code></a>
</p>
</div>
<div class="description">
</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">
<li class="index-item method">
<a href="#method_convexConvex">convexConvex</a>
</li>
<li class="index-item method">
<a href="#method_convexHeightfield">convexHeightfield</a>
</li>
<li class="index-item method">
<a href="#method_convexParticle">convexParticle</a>
</li>
<li class="index-item method">
<a href="#method_convexTrimesh">convexTrimesh</a>
</li>
<li class="index-item method">
<a href="#method_createContactEquation">createContactEquation</a>
</li>
<li class="index-item method">
<a href="#method_getContacts">getContacts</a>
</li>
<li class="index-item method">
<a href="#method_particlePlane">particlePlane</a>
</li>
<li class="index-item method">
<a href="#method_particleSphere">particleSphere</a>
</li>
<li class="index-item method">
<a href="#method_planeBox">planeBox</a>
</li>
<li class="index-item method">
<a href="#method_planeConvex">planeConvex</a>
</li>
<li class="index-item method">
<a href="#method_planeTrimesh">planeTrimesh</a>
</li>
<li class="index-item method">
<a href="#method_sphereBox">sphereBox</a>
</li>
<li class="index-item method">
<a href="#method_sphereConvex">sphereConvex</a>
</li>
<li class="index-item method">
<a href="#method_sphereHeightfield">sphereHeightfield</a>
</li>
<li class="index-item method">
<a href="#method_spherePlane">spherePlane</a>
</li>
<li class="index-item method">
<a href="#method_sphereSphere">sphereSphere</a>
</li>
<li class="index-item method">
<a href="#method_sphereTrimesh">sphereTrimesh</a>
</li>
</ul>
</div>
<div class="index-section properties">
<h3>Properties</h3>
<ul class="index-list properties">
<li class="index-item property">
<a href="#property_contactPointPool">contactPointPool</a>
</li>
<li class="index-item property">
<a href="#property_enableFrictionReduction">enableFrictionReduction</a>
</li>
<li class="index-item property">
<a href="#property_v3pool">v3pool</a>
</li>
</ul>
</div>
</div>
<div id="methods" class="api-class-tabpanel">
<h2 class="off-left">Methods</h2>
<div id="method_convexConvex" class="method item">
<h3 class="name"><code>convexConvex</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1252"><code>src/world/Narrowphase.js:1252</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">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_convexHeightfield" class="method item">
<h3 class="name"><code>convexHeightfield</code></h3>
<span class="paren">()</span>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1573"><code>src/world/Narrowphase.js:1573</code></a>
</p>
</div>
<div class="description">
</div>
</div>
<div id="method_convexParticle" class="method item">
<h3 class="name"><code>convexParticle</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1475"><code>src/world/Narrowphase.js:1475</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">result</code>
<span class="type">Array</span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_convexTrimesh" class="method item">
<h3 class="name"><code>convexTrimesh</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1309"><code>src/world/Narrowphase.js:1309</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">result</code>
<span class="type">Array</span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_createContactEquation" class="method item">
<h3 class="name"><code>createContactEquation</code></h3>
<span class="paren">()</span>
<span class="returns-inline">
<span class="type"><a href="../classes/ContactEquation.html" class="crosslink">ContactEquation</a></span>
</span>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l51"><code>src/world/Narrowphase.js:51</code></a>
</p>
</div>
<div class="description">
<p>Make a contact object, by using the internal pool or creating a new one.</p>
</div>
<div class="returns">
<h4>Returns:</h4>
<div class="returns-description">
<span class="type"><a href="../classes/ContactEquation.html" class="crosslink">ContactEquation</a></span>:
</div>
</div>
</div>
<div id="method_getContacts" class="method item">
<h3 class="name"><code>getContacts</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>p1</code>
</li>
<li class="arg">
<code>p2</code>
</li>
<li class="arg">
<code>world</code>
</li>
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>oldcontacts</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l199"><code>src/world/Narrowphase.js:199</code></a>
</p>
</div>
<div class="description">
<p>Generate all contacts between a list of body pairs</p>
</div>
<div class="params">
<h4>Parameters:</h4>
<ul class="params-list">
<li class="param">
<code class="param-name">p1</code>
<span class="type">Array</span>
<div class="param-description">
<p>Array of body indices</p>
</div>
</li>
<li class="param">
<code class="param-name">p2</code>
<span class="type">Array</span>
<div class="param-description">
<p>Array of body indices</p>
</div>
</li>
<li class="param">
<code class="param-name">world</code>
<span class="type"><a href="../classes/World.html" class="crosslink">World</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">result</code>
<span class="type">Array</span>
<div class="param-description">
<p>Array to store generated contacts</p>
</div>
</li>
<li class="param">
<code class="param-name">oldcontacts</code>
<span class="type">Array</span>
<div class="param-description">
<p>Optional. Array of reusable contact objects</p>
</div>
</li>
</ul>
</div>
</div>
<div id="method_particlePlane" class="method item">
<h3 class="name"><code>particlePlane</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1393"><code>src/world/Narrowphase.js:1393</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">result</code>
<span class="type">Array</span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_particleSphere" class="method item">
<h3 class="name"><code>particleSphere</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1434"><code>src/world/Narrowphase.js:1434</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">result</code>
<span class="type">Array</span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_planeBox" class="method item">
<h3 class="name"><code>planeBox</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>result</code>
</li>
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1152"><code>src/world/Narrowphase.js:1152</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">result</code>
<span class="type">Array</span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_planeConvex" class="method item">
<h3 class="name"><code>planeConvex</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/src_world_Narrowphase.js.html#l1176"><code>src/world/Narrowphase.js:1176</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">si</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">sj</code>
<span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xi</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">xj</code>
<span class="type"><a href="../classes/Vec3.html" class="crosslink">Vec3</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qi</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">qj</code>
<span class="type"><a href="../classes/Quaternion.html" class="crosslink">Quaternion</a></span>
<div class="param-description">
</div>
</li>
<li class="param">
<code class="param-name">bi</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">bj</code>
<span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span>
<div class="param-description">
</div>
</li>
</ul>
</div>
</div>
<div id="method_planeTrimesh" class="method item">
<h3 class="name"><code>planeTrimesh</code></h3>
<div class="args">
<span class="paren">(</span><ul class="args-list inline commas">
<li class="arg">
<code>si</code>
</li>
<li class="arg">
<code>sj</code>
</li>
<li class="arg">
<code>xi</code>
</li>
<li class="arg">
<code>xj</code>
</li>
<li class="arg">
<code>qi</code>
</li>
<li class="arg">
<code>qj</code>
</li>
<li class="arg">
<code>bi</code>
</li>
<li class="arg">
<code>bj</code>
</li>
</ul><span class="paren">)</span>
</div>
<div class="meta">
<p>
Defined in
<a href="../files/