API Docs for: 0.7.1
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ContactEquation Class

Extends Equation
Defined in: src/equations/ContactEquation.js:6

非穿透约束方程，用于让接触点A 和接触点B 向量一致，同时保持作用力排斥

构造器

ContactEquation

(
  • bodyA
  • bodyB
)

Defined in src/equations/ContactEquation.js:6

参数:

Methods

addToWlambda

(
  • deltalambda
)

Inherited from Equation: src/equations/Equation.js:270

添加约束速度到刚体中

参数:

  • deltalambda Number

computeB

() Number

Inherited from Equation: src/equations/Equation.js:150

计算SPOOK 方程的RHS 值（Computes the RHS of the SPOOK equation）

Returns:

Number:

computeGiMf

() Number

Inherited from Equation: src/equations/Equation.js:213

计算G值乘以 inv(M)(M 为每个物体对角线块的质量矩阵) 乘以f (刚体的作用力)

Returns:

Number:

computeGiMGt

() Number

Inherited from Equation: src/equations/Equation.js:241

计算G值乘以 inv(M)(M 为每个物体对角线块的质量矩阵) 乘以G的导数 G'

Returns:

Number:

computeGq

() Number

Inherited from Equation: src/equations/Equation.js:162

计算G值乘以q(q 为广义刚体坐标)

Returns:

Number:

computeGW

() Number

Inherited from Equation: src/equations/Equation.js:181

计算G值乘以W(W 为刚体的速度)

Returns:

Number:

computeGWlambda

() Number

Inherited from Equation: src/equations/Equation.js:197

计算G值乘以W lambda (W 为刚体的速度)

Returns:

Number:

computeInvC

(
  • eps
)
Number

Inherited from Equation: src/equations/Equation.js:313

计算SPOOK等式的分母部分：C = G * inv(M)* G'+ eps

参数:

  • eps Number

Returns:

Number:

gmult

() Number

Inherited from Equation: src/equations/Equation.js:136

将雅可比项乘以相应的位置或速度

Returns:

Number:

update

()

Inherited from Equation: src/equations/Equation.js:120

根据当前参数计算SPOOK参数.a，.b和.epsilon。 参见SPOOK笔记中的等式9,10和11。.

Properties

bodyA

Body

Inherited from Equation: src/equations/Equation.js:32

将要参与约束的第一个刚体

bodyB

Body

Inherited from Equation: src/equations/Equation.js:39

将要参与约束的第二个刚体

contactPointA

Array

Defined in src/equations/ContactEquation.js:18

刚体到接触点的向量

contactPointB

Array

Defined in src/equations/ContactEquation.js:26

刚体到接触点的向量

enabled

Boolean

Inherited from Equation: src/equations/Equation.js:96

设置或获取当前方程式的可用状态，如果为true， 它将被添加到求解中

firstImpact

Boolean

Defined in src/equations/ContactEquation.js:47

当两个刚体第一次碰撞(非持续碰撞)时这一属性会被设置为true

G

Array

Inherited from Equation: src/equations/Equation.js:60

两个连接对象的雅克布矩阵，包含了6个数字，分别是两个对象的x, y 和 angle

maxForce

Number

Inherited from Equation: src/equations/Equation.js:25

求解时施加的最大作用力

minForce

Number

Inherited from Equation: src/equations/Equation.js:18

求解时施加的最小作用力

multiplier

Number

Inherited from Equation: src/equations/Equation.js:83

由上一次求解得到的约束乘数，大致相当于约束所产生的作用力

needsUpdate

Boolean

Inherited from Equation: src/equations/Equation.js:77

标志刚度或弛豫是否改变

normalA

Array

Defined in src/equations/ContactEquation.js:33

法向量，指向刚体外部

relativeVelocity

Number

Inherited from Equation: src/equations/Equation.js:90

相对速度

relaxation

Number

Inherited from Equation: src/equations/Equation.js:53

稳定约束方程所需的步进， 通常为3到5个步进

restitution

Number

Defined in src/equations/ContactEquation.js:40

弹性系数(0 为无弹性，1为最大弹性)

shapeA

Shape

Defined in src/equations/ContactEquation.js:55

触发碰撞的刚体的形状

shapeB

Shape

Defined in src/equations/ContactEquation.js:62

触发碰撞的刚体的形状

stiffness

Number

Inherited from Equation: src/equations/Equation.js:46

约束方程的刚度，通常使用一个较大的数字（〜1e7），但也可以自由设置一个数字以获得比较稳定的模拟