RealisticSolver

A collision solver figures out how to position colliders such that they are no longer overlapping

Solvers are executed in the order

1. preSolve
2. solveVelocity
3. solvePosition
4. postSolve

@inheritDoc

Implements

• CollisionSolver

Index

Constructors

• constructor

Properties

• config
• idToContactConstraint
• lastFrameContacts

Methods

• getContactConstraints
• postSolve
• preSolve
• solve
• solvePosition
• solveVelocity
• warmStart

Constructors

constructor

• new RealisticSolver(config: Required<{ positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean }>): RealisticSolver

• Parameters

  • config: Required<{ positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean }>

  Returns RealisticSolver

Properties

publicconfig

config: Required<{ positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean }>

idToContactConstraint

idToContactConstraint: Map<string, ContactConstraintPoint[]> = ...

lastFrameContacts

lastFrameContacts: Map<string, CollisionContact> = ...

Methods

getContactConstraints

• getContactConstraints(id: string): ContactConstraintPoint[]

• Parameters

  • id: string

  Returns ContactConstraintPoint[]

postSolve

• postSolve(contacts: CollisionContact[]): void

• Parameters

  • contacts: CollisionContact[]

  Returns void

preSolve

• preSolve(contacts: CollisionContact[]): void

• Parameters

  • contacts: CollisionContact[]

  Returns void

publicsolve

• solve(contacts: CollisionContact[]): CollisionContact[]

• Implementation of CollisionSolver.solve

  Solves overlapping contact in

  Solvers are executed in the order

  1. preSolve
  2. solveVelocity
  3. solvePosition
  4. postSolve

  ---

  Parameters

  • contacts: CollisionContact[]

  Returns CollisionContact[]

solvePosition

• solvePosition(contacts: CollisionContact[]): void

• Iteratively solve the position overlap constraint

  ---

  Parameters

  • contacts: CollisionContact[]

  Returns void

solveVelocity

• solveVelocity(contacts: CollisionContact[]): void

• Parameters

  • contacts: CollisionContact[]

  Returns void

warmStart

• warmStart(contacts: CollisionContact[]): void

• Warm up body's based on previous frame contact points

  ---

  Parameters

  • contacts: CollisionContact[]

  Returns void