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<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>Narrowphase - p2.js</title> <link rel="stylesheet" href="http://yui.yahooapis.com/3.9.1/build/cssgrids/cssgrids-min.css"> <link rel="stylesheet" href="../assets/vendor/prettify/prettify-min.css"> <link rel="stylesheet" href="../assets/css/main.css" id="site_styles"> <link rel="icon" href="../assets/favicon.ico"> <script src="http://yui.yahooapis.com/combo?3.9.1/build/yui/yui-min.js"></script> </head> <body class="yui3-skin-sam"> <div id="doc"> <div id="hd" class="yui3-g header"> <div class="yui3-u-3-4"> <h1><img src="../assets/css/logo.png" title="p2.js" width="117" height="52"></h1> </div> <div class="yui3-u-1-4 version"> <em>API Docs for: 0.7.1</em> </div> </div> <div id="bd" class="yui3-g"> <div class="yui3-u-1-4"> <div id="docs-sidebar" class="sidebar apidocs"> <div id="api-list"> <h2 class="off-left">APIs</h2> <div id="api-tabview" class="tabview"> <ul class="tabs"> <li><a href="#api-classes">Classes</a></li> 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</label> </div> <div class="apidocs"> <div id="docs-main"> <div class="content"> <h1>Narrowphase Class</h1> <div class="box meta"> <div class="foundat"> Defined in: <a href="../files/src_collision_Narrowphase.js.html#l43"><code>src/collision/Narrowphase.js:43</code></a> </div> </div> <div class="box intro"> <p>Narrowphase. Creates contacts and friction given shapes and transforms.</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_collision_Narrowphase.js.html#l43"><code>src/collision/Narrowphase.js:43</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_bodiesOverlap">bodiesOverlap</a> </li> <li class="index-item method"> <a href="#method_capsuleCapsule">capsuleCapsule</a> </li> <li class="index-item method"> <a href="#method_circleCapsule">circleCapsule</a> </li> <li class="index-item method"> <a href="#method_circleCircle">circleCircle</a> </li> <li class="index-item method"> <a href="#method_circleConvex">circleConvex</a> </li> <li class="index-item method"> <a href="#method_circleHeightfield">circleHeightfield</a> </li> <li class="index-item method"> <a href="#method_circleHeightfield">circleHeightfield</a> </li> <li class="index-item method"> <a href="#method_circleLine">circleLine</a> </li> <li class="index-item method"> <a href="#method_circleParticle">circleParticle</a> </li> <li class="index-item method"> <a href="#method_circlePlane">circlePlane</a> </li> <li class="index-item method"> <a href="#method_collidedLastStep">collidedLastStep</a> </li> <li class="index-item method"> <a href="#method_convexCapsule">convexCapsule</a> </li> <li class="index-item method"> <a href="#method_convexConvex">convexConvex</a> </li> <li class="index-item method"> <a href="#method_convexLine">convexLine</a> </li> <li class="index-item method"> <a href="#method_createContactEquation">createContactEquation</a> </li> <li class="index-item method"> <a href="#method_createFrictionEquation">createFrictionEquation</a> </li> <li class="index-item method"> <a href="#method_createFrictionFromContact">createFrictionFromContact</a> </li> <li class="index-item method"> <a href="#method_findSeparatingAxis">findSeparatingAxis</a> <span class="flag static">static</span> </li> <li class="index-item method"> <a href="#method_getClosestEdge">getClosestEdge</a> <span class="flag static">static</span> </li> <li class="index-item method"> <a href="#method_lineBox">lineBox</a> </li> <li class="index-item method"> <a href="#method_lineCapsule">lineCapsule</a> </li> <li class="index-item method"> <a href="#method_lineLine">lineLine</a> </li> <li class="index-item method"> <a href="#method_particleConvex">particleConvex</a> </li> <li class="index-item method"> <a href="#method_particlePlane">particlePlane</a> </li> <li class="index-item method"> <a href="#method_planeCapsule">planeCapsule</a> </li> <li class="index-item method"> <a href="#method_planeConvex">planeConvex</a> </li> <li class="index-item method"> <a href="#method_planeLine">planeLine</a> </li> <li class="index-item method"> <a href="#method_projectConvexOntoAxis">projectConvexOntoAxis</a> <span class="flag static">static</span> </li> <li class="index-item method"> <a href="#method_reset">reset</a> </li> </ul> </div> <div class="index-section properties"> <h3>Properties</h3> <ul class="index-list properties"> <li class="index-item property private"> <a href="#property_collidingBodiesLastStep">collidingBodiesLastStep</a> </li> <li class="index-item property"> <a href="#property_contactEquationPool">contactEquationPool</a> </li> <li class="index-item property"> <a href="#property_contactEquations">contactEquations</a> </li> <li class="index-item property"> <a href="#property_contactSkinSize">contactSkinSize</a> </li> <li class="index-item property"> <a href="#property_enabledEquations">enabledEquations</a> </li> <li class="index-item property"> <a href="#property_enableFriction">enableFriction</a> </li> <li class="index-item property deprecated"> <a href="#property_enableFrictionReduction">enableFrictionReduction</a> <span class="flag deprecated">deprecated</span> </li> <li class="index-item property"> <a href="#property_frictionCoefficient">frictionCoefficient</a> </li> <li class="index-item property"> <a href="#property_frictionEquationPool">frictionEquationPool</a> </li> <li class="index-item property"> <a href="#property_frictionEquations">frictionEquations</a> </li> <li class="index-item property"> <a href="#property_frictionRelaxation">frictionRelaxation</a> </li> <li class="index-item property"> <a href="#property_frictionStiffness">frictionStiffness</a> </li> <li class="index-item property"> <a href="#property_restitution">restitution</a> </li> <li class="index-item property"> <a href="#property_slipForce">slipForce</a> </li> <li class="index-item property"> <a href="#property_stiffness">stiffness</a> </li> <li class="index-item property"> <a href="#property_stiffness">stiffness</a> </li> <li class="index-item property"> <a href="#property_surfaceVelocity">surfaceVelocity</a> </li> </ul> </div> </div> <div id="methods" class="api-class-tabpanel"> <h2 class="off-left">Methods</h2> <div id="method_bodiesOverlap" class="method item"> <h3 class="name"><code>bodiesOverlap</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> <span class="returns-inline"> <span class="type">Boolean</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l176"><code>src/collision/Narrowphase.js:176</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 class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Boolean</span>: </div> </div> </div> <div id="method_capsuleCapsule" class="method item"> <h3 class="name"><code>capsuleCapsule</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bi</code> </li> <li class="arg"> <code>si</code> </li> <li class="arg"> <code>xi</code> </li> <li class="arg"> <code>ai</code> </li> <li class="arg"> <code>bj</code> </li> <li class="arg"> <code>sj</code> </li> <li class="arg"> <code>xj</code> </li> <li class="arg"> <code>aj</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l520"><code>src/collision/Narrowphase.js:520</code></a> </p> </div> <div class="description"> <p>Capsule/capsule narrowphase</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <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">si</code> <span class="type"><a href="../classes/Capsule.html" class="crosslink">Capsule</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xi</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">ai</code> <span class="type">Number</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> <li class="param"> <code class="param-name">sj</code> <span class="type"><a href="../classes/Capsule.html" class="crosslink">Capsule</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xj</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">aj</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_circleCapsule" class="method item"> <h3 class="name"><code>circleCapsule</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bi</code> </li> <li class="arg"> <code>si</code> </li> <li class="arg"> <code>xi</code> </li> <li class="arg"> <code>ai</code> </li> <li class="arg"> <code>bj</code> </li> <li class="arg"> <code>sj</code> </li> <li class="arg"> <code>xj</code> </li> <li class="arg"> <code>aj</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l950"><code>src/collision/Narrowphase.js:950</code></a> </p> </div> <div class="description"> <p>Circle/capsule Narrowphase</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <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">si</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xi</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">ai</code> <span class="type">Number</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> <li class="param"> <code class="param-name">sj</code> <span class="type"><a href="../classes/Line.html" class="crosslink">Line</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xj</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">aj</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_circleCircle" class="method item"> <h3 class="name"><code>circleCircle</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>shapeA</code> </li> <li class="arg"> <code>offsetA</code> </li> <li class="arg"> <code>angleA</code> </li> <li class="arg"> <code>bodyB</code> </li> <li class="arg"> <code>shapeB</code> </li> <li class="arg"> <code>offsetB</code> </li> <li class="arg"> <code>angleB</code> </li> <li class="arg"> <code>justTest</code> </li> <li class="arg"> <code class="optional">[radiusA]</code> </li> <li class="arg"> <code class="optional">[radiusB]</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l1308"><code>src/collision/Narrowphase.js:1308</code></a> </p> </div> <div class="description"> <p>Circle/circle Narrowphase</p> </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">shapeA</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">offsetA</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">angleA</code> <span class="type">Number</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> <li class="param"> <code class="param-name">shapeB</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">offsetB</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">angleB</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">justTest</code> <span class="type">Boolean</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name optional">[radiusA]</code> <span class="type">Number</span> <span class="flag optional" title="This parameter is optional.">optional</span> <div class="param-description"> <p>Optional radius to use for shapeA</p> </div> </li> <li class="param"> <code class="param-name optional">[radiusB]</code> <span class="type">Number</span> <span class="flag optional" title="This parameter is optional.">optional</span> <div class="param-description"> <p>Optional radius to use for shapeB</p> </div> </li> </ul> </div> </div> <div id="method_circleConvex" class="method item"> <h3 class="name"><code>circleConvex</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>circleBody</code> </li> <li class="arg"> <code>circleShape</code> </li> <li class="arg"> <code>circleOffset</code> </li> <li class="arg"> <code>circleAngle</code> </li> <li class="arg"> <code>convexBody</code> </li> <li class="arg"> <code>convexShape</code> </li> <li class="arg"> <code>convexOffset</code> </li> <li class="arg"> <code>convexAngle</code> </li> <li class="arg"> <code>justTest</code> </li> <li class="arg"> <code>circleRadius</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l967"><code>src/collision/Narrowphase.js:967</code></a> </p> </div> <div class="description"> <p>Circle/convex Narrowphase.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">circleBody</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">circleShape</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">circleOffset</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">circleAngle</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">convexBody</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">convexShape</code> <span class="type"><a href="../classes/Convex.html" class="crosslink">Convex</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">convexOffset</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">convexAngle</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">justTest</code> <span class="type">Boolean</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">circleRadius</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_circleHeightfield" class="method item"> <h3 class="name"><code>circleHeightfield</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bi</code> </li> <li class="arg"> <code>si</code> </li> <li class="arg"> <code>xi</code> </li> <li class="arg"> <code>bj</code> </li> <li class="arg"> <code>sj</code> </li> <li class="arg"> <code>xj</code> </li> <li class="arg"> <code>aj</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l2355"><code>src/collision/Narrowphase.js:2355</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">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">si</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xi</code> <span class="type">Array</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> <li class="param"> <code class="param-name">sj</code> <span class="type"><a href="../classes/Heightfield.html" class="crosslink">Heightfield</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xj</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">aj</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_circleHeightfield" class="method item"> <h3 class="name"><code>circleHeightfield</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bi</code> </li> <li class="arg"> <code>si</code> </li> <li class="arg"> <code>xi</code> </li> <li class="arg"> <code>bj</code> </li> <li class="arg"> <code>sj</code> </li> <li class="arg"> <code>xj</code> </li> <li class="arg"> <code>aj</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l2176"><code>src/collision/Narrowphase.js:2176</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">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">si</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xi</code> <span class="type">Array</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> <li class="param"> <code class="param-name">sj</code> <span class="type"><a href="../classes/Heightfield.html" class="crosslink">Heightfield</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">xj</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">aj</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_circleLine" class="method item"> <h3 class="name"><code>circleLine</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>circleBody</code> </li> <li class="arg"> <code>circleShape</code> </li> <li class="arg"> <code>circleOffset</code> </li> <li class="arg"> <code>circleAngle</code> </li> <li class="arg"> <code>lineBody</code> </li> <li class="arg"> <code>lineShape</code> </li> <li class="arg"> <code>lineOffset</code> </li> <li class="arg"> <code>lineAngle</code> </li> <li class="arg"> <code>justTest</code> </li> <li class="arg"> <code>lineRadius</code> </li> <li class="arg"> <code>circleRadius</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_collision_Narrowphase.js.html#l780"><code>src/collision/Narrowphase.js:780</code></a> </p> </div> <div class="description"> <p>Circle/line Narrowphase</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">circleBody</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">circleShape</code> <span class="type"><a href="../classes/Circle.html" class="crosslink">Circle</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">circleOffset</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">circleAngle</code> <span class="type">Number</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">lineBody</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">lineShape</code> <span class="type"><a href="../classes/Line.html" class="crosslink">Line</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">lineOffset</code> <span class="type">Array</span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">lineAngle</code> <span class="type">Number</span> <div class="param-description">