Class: Constraint
physics/constraints/constraint.Constraint
Represents a distance constraint between two bodies or a body and a point.
The constraint points are in local space of their body.
If the constraint is between a body and a point then the given point is in world space.
Hierarchy
Constraint
Constructors
constructor
• new Constraint(a, b)
Creates a new Constraint between two bodies.
Parameters
| Name | Type | Description |
|---|---|---|
a | CollisionObject | The first body |
b | CollisionObject | The second body |
Defined in
src/physics/constraints/constraint.ts:43
• new Constraint(opts)
Creates a new Constraint with the given options.
Parameters
| Name | Type | Description |
|---|---|---|
opts | ConstraintOptions | The constraint options |
Defined in
src/physics/constraints/constraint.ts:50
• new Constraint(a, point)
Creates a new Constraint between a body and a point.
Parameters
| Name | Type | Description |
|---|---|---|
a | CollisionObject | The body to constrain |
point | vec2 | A point in world space |
Defined in
src/physics/constraints/constraint.ts:58
Properties
a
• a: CollisionObject
Defined in
src/physics/constraints/constraint.ts:22
anchorA
• anchorA: vec2
Defined in
src/physics/constraints/constraint.ts:23
anchorB
• anchorB: vec2
Defined in
src/physics/constraints/constraint.ts:27
b
• b: CollisionObject
Defined in
src/physics/constraints/constraint.ts:26
errorBias
• errorBias: number
Defined in
src/physics/constraints/constraint.ts:32
maxBias
• maxBias: number = Infinity
Defined in
src/physics/constraints/constraint.ts:33
maxForce
• maxForce: number = Infinity
Defined in
src/physics/constraints/constraint.ts:35
point
• point: vec2
Defined in
src/physics/constraints/constraint.ts:30
rotA
• rotA: number = 0
Defined in
src/physics/constraints/constraint.ts:24
rotB
• rotB: number = 0
Defined in
src/physics/constraints/constraint.ts:28
Methods
applyImpulses
▸ Protected applyImpulses(impulse, direction): void
Parameters
| Name | Type |
|---|---|
impulse | number |
direction | vec2 |
Returns
void
Defined in
src/physics/constraints/constraint.ts:111
▸ Protected applyImpulses(impulse): void
Parameters
| Name | Type |
|---|---|
impulse | vec2 |
Returns
void
Defined in
src/physics/constraints/constraint.ts:113
biasCoef
▸ Protected biasCoef(dt): number
Calculates the velocity bias coefficient.
Parameters
| Name | Type | Description |
|---|---|---|
dt | number | The time since the last update |
Returns
number
Defined in
src/physics/constraints/constraint.ts:182
calculateRelativeVelocity
▸ Protected calculateRelativeVelocity(pointA, pointB): vec2
Calculate the relative velocity of the bodies in the constraint.
Parameters
| Name | Type | Description |
|---|---|---|
pointA | vec2 | The anchor point on body a |
pointB | vec2 | The anchor point on body b |
Returns
vec2
The relative velocity between body a and b or body a and the anchor point
Defined in
src/physics/constraints/constraint.ts:164
isBodyToPoint
▸ isBodyToPoint(): boolean
Determines wether or not the constraint is between a body and a point.
Returns
boolean
Wether or not the constraint is between a body and a point.
Defined in
src/physics/constraints/constraint.ts:107
kScalar
▸ Protected kScalar(n): number
Computes the k scalar value for the constraint.
Parameters
| Name | Type | Description |
|---|---|---|
n | vec2 | The constraint's delta normal |
Returns
number
The k scalar value for the constraint
Defined in
src/physics/constraints/constraint.ts:205
kScalarBody
▸ Protected kScalarBody(body, r, n): number
Computes the k scalar value for the given body.
Parameters
| Name | Type | Description |
|---|---|---|
body | CollisionObject | The body to calculate for |
r | vec2 | The anchor point on the body |
n | vec2 | The constraint's delta normal |
Returns
number
The k scalar value for the given body
Defined in
src/physics/constraints/constraint.ts:194
kTensor
▸ Protected kTensor(): mat2
Computes the k tensor matrix for the constraint.
Returns
mat2
k tensor matrix
Defined in
src/physics/constraints/constraint.ts:220
postSolve
▸ Abstract postSolve(dt): void
Performs post solve operations.
Parameters
| Name | Type | Description |
|---|---|---|
dt | number | The time since the last update |
Returns
void
Defined in
src/physics/constraints/constraint.ts:100
preSolve
▸ Abstract preSolve(dt): void
Prepares for constraint solving.
Parameters
| Name | Type | Description |
|---|---|---|
dt | number | The time since the last update |
Returns
void
Defined in
src/physics/constraints/constraint.ts:86
solve
▸ Abstract solve(dt): void
Solves the constraint.
Parameters
| Name | Type | Description |
|---|---|---|
dt | number | The time since the last update |
Returns
void
Defined in
src/physics/constraints/constraint.ts:93
updateAnchors
▸ Protected updateAnchors(): void
Updates the constraint's anchor points to match the rotations of their bodies.
Returns
void
Defined in
src/physics/constraints/constraint.ts:141