1681-engine / index / Contact

Class: Contact

Defined in: src/physics/Contact.ts:35

One touching pair, kept from step to step while they touch: the impulses it ended the last step with start the next one (warm starting), which is what lets a stack settle in a few solver iterations instead of shivering.

Implements

• ContactInfo

Constructors

Constructor

new Contact(
   a, 
   b, 
   key
): Contact;

Defined in: src/physics/Contact.ts:51

Parameters

Parameter	Type
a	Body
b	Body
key	number

Returns

Contact

Properties

a

readonly a: Body;

Defined in: src/physics/Contact.ts:52

Implementation of

ContactInfo.a

---

b

readonly b: Body;

Defined in: src/physics/Contact.ts:53

Implementation of

ContactInfo.b

---

count

count: number = 0;

Defined in: src/physics/Contact.ts:41

---

depth

depth: number = 0;

Defined in: src/physics/Contact.ts:38

Overlap along the normal, px (slightly negative while resting just apart).

Implementation of

ContactInfo.depth

---

enabled

enabled: boolean = true;

Defined in: src/physics/Contact.ts:44

Solved this sub-step (false when the pre-solve hook turned it off).

---

key

readonly key: number;

Defined in: src/physics/Contact.ts:54

---

mu

mu: number = 0;

Defined in: src/physics/Contact.ts:42

---

nx

nx: number = 0;

Defined in: src/physics/Contact.ts:36

Implementation of

ContactInfo.nx

---

ny

ny: number = 1;

Defined in: src/physics/Contact.ts:37

Implementation of

ContactInfo.ny

---

pts

readonly pts: [ContactPoint, ContactPoint];

Defined in: src/physics/Contact.ts:40

One or two points; only the first count are in use.

---

reported

reported: boolean = false;

Defined in: src/physics/Contact.ts:49

Reported as touching (a begin went out and no end yet).

---

seenStep

seenStep: number = -1;

Defined in: src/physics/Contact.ts:46

The world step and sub-step that last found it.

---

seenSub

seenSub: number = -1;

Defined in: src/physics/Contact.ts:47

Accessors

normalImpulse

Get Signature

get normalImpulse(): number;

Defined in: src/physics/Contact.ts:69

Accumulated normal impulse over the points: how hard the pair pressed together on the last sub-step.

Returns

number

---

points

Get Signature

get points(): Vec2[];

Defined in: src/physics/Contact.ts:62

Where the two touch, world px.

Returns

Vec2[]

Where the two touch, world px: one or two points (two where an edge lies along an edge).

Implementation of

ContactInfo.points

---

sensor

Get Signature

get sensor(): boolean;

Defined in: src/physics/Contact.ts:57

Either body is a sensor: reported, never resolved.

Returns

boolean

Either body is a sensor: reported, never resolved.

Implementation of

ContactInfo.sensor

Methods

other()

other(body): Body;

Defined in: src/physics/Contact.ts:76

The other body of the pair.

Parameters

Parameter	Type
body	Body

Returns

Body

---

keyOf()

static keyOf(a, b): number;

Defined in: src/physics/Contact.ts:81

A stable number for the pair, whichever order it is asked in.

Parameters

Parameter	Type
a	Body
b	Body

Returns

number