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

Implements

• CollisionSolver

Index

Constructors

• constructor

Properties

• config
• directionMap
• distanceMap
• idToContactConstraint
• lastFrameContacts

Methods

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

Constructors

constructor

• RealisticSolver(config: DeepRequired<{ contactSolveBias?: ContactSolveBias; maxPositionCorrection?: number; positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean } | undefined>): RealisticSolver

• Parameters

  • config: DeepRequired<{ contactSolveBias?: ContactSolveBias; maxPositionCorrection?: number; positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean } | undefined>

  Returns RealisticSolver

Properties

publicconfig

config: DeepRequired<{ contactSolveBias?: ContactSolveBias; maxPositionCorrection?: number; positionIterations?: number; slop?: number; steeringFactor?: number; velocityIterations?: number; warmStart?: boolean } | undefined>

directionMap

directionMap: Map<string, horizontal | vertical> = ...

distanceMap

distanceMap: Map<string, number> = ...

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[], emitEvents?: boolean): void

• Parameters

  • contacts: CollisionContact[]

  • emitEvents: boolean = true

    whether postcollision/aftercollisionresolve fire, only the last substep of a frame does

  Returns void

preSolve

• preSolve(contacts: CollisionContact[], substep?: number): void

• Prepares the contact constraints (effective masses, lever arms, restitution targets) and warm starts them

  ---

  Parameters

  • contacts: CollisionContact[]

  • substep: number = 0

    index of the substep within the frame, precollision/beforecollisionresolve are only emitted on the first

  Returns void

publicsolve

• solve(contacts: CollisionContact[], _duration?: number, substep?: number, substepCount?: number): CollisionContact[]

• Implementation of CollisionSolver.solve

  Solve the contacts for one physics (sub)step

  ---

  Parameters

  • contacts: CollisionContact[]

  • optional_duration: number

    length of the step in ms, unused but kept so substep/substepCount line up positionally with the CollisionSolver interface

  • substep: number = 0

    index of the substep within the frame, collision events are emitted on the first and last substep only

  • substepCount: number = 1

    total substeps in the frame

  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