ConvexPolyhedron Class

• mass
• target

Inherited from Shape but overwritten in src/shapes/ConvexPolyhedron.js:413

Parameters:

• mass Number
• target Vec3

• pos
• quat
• min
• max

Defined in src/shapes/ConvexPolyhedron.js:727

Parameters:

• pos Vec3
• quat Quaternion
• min Vec3
• max Vec3

• posA
• quatA
• hullB
• posB
• quatB
• separatingNormal
• minDist
• maxDist
• result

Defined in src/shapes/ConvexPolyhedron.js:181

Parameters:

• posA Vec3
• quatA Quaternion
• hullB ConvexPolyhedron
• posB Vec3
• quatB Quaternion
• separatingNormal Vec3
• minDist Number

  Clamp distance

• maxDist Number
• result Array

  The an array of contact point objects, see clipFaceAgainstHull

• separatingNormal
• posA
• quatA
• worldVertsB1
• minDist
• maxDist
• Array

Defined in src/shapes/ConvexPolyhedron.js:443

Clip a face against a hull.

Parameters:

• separatingNormal Vec3
• posA Vec3
• quatA Quaternion
• worldVertsB1 Array

  An array of Vec3 with vertices in the world frame.

• minDist Number

  Distance clamping

• maxDist Number
• Array Object

  result Array to store resulting contact points in. Will be objects with properties: point, depth, normal. These are represented in world coordinates.

• inVertices
• outVertices
• planeNormal
• planeConstant

Defined in src/shapes/ConvexPolyhedron.js:588

Clip a face in a hull against the back of a plane.

Parameters:

• inVertices Array
• outVertices Array
• planeNormal Vec3
• planeConstant Number

  The constant in the mathematical plane equation

Defined in src/shapes/ConvexPolyhedron.js:80

Computes uniqueEdges

Defined in src/shapes/ConvexPolyhedron.js:116

Compute the normals of the faces. Will reuse existing Vec3 objects in the .faceNormals array if they exist.

• quat

Defined in src/shapes/ConvexPolyhedron.js:689

Updates .worldVertices and sets .worldVerticesNeedsUpdate to false.

Parameters:

• quat Quaternion

• hullB
• posA
• quatA
• posB
• quatB
• target

Defined in src/shapes/ConvexPolyhedron.js:234

Find the separating axis between this hull and another

Parameters:

• hullB ConvexPolyhedron
• posA Vec3
• quatA Quaternion
• posB Vec3
• quatB Quaternion
• target Vec3

  The target vector to save the axis in

Returns:

• target

Defined in src/shapes/ConvexPolyhedron.js:773

Get an average of all the vertices positions

Parameters:

• target Vec3

Returns:

• i
• target

Defined in src/shapes/ConvexPolyhedron.js:167

Compute the normal of a face from its vertices

Parameters:

• i Number
• target Vec3

• va
• vb
• vc
• target

Defined in src/shapes/ConvexPolyhedron.js:147

Get face normal given 3 vertices

Parameters:

• va Vec3
• vb Vec3
• vc Vec3
• target Vec3

• face_i

Defined in src/shapes/ConvexPolyhedron.js:430

Parameters:

• face_i Number

  Index of the face

Returns:

• p

Defined in src/shapes/ConvexPolyhedron.js:829

Checks whether p is inside the polyhedra. Must be in local coords. The point lies outside of the convex hull of the other points if and only if the direction of all the vectors from it to those other points are on less than one half of a sphere around it.

Parameters:

• p Vec3

  A point given in local coordinates

Returns:

• hull
• axis
• pos
• quat
• result

Defined in src/shapes/ConvexPolyhedron.js:871

Get max and min dot product of a convex hull at position (pos,quat) projected onto an axis. Results are saved in the array maxmin.

Parameters:

• hull ConvexPolyhedron
• axis Vec3
• pos Vec3
• quat Quaternion
• result Array

  result[0] and result[1] will be set to maximum and minimum, respectively.

• axis
• hullB
• posA
• quatA
• posB
• quatB

Defined in src/shapes/ConvexPolyhedron.js:382

Test separating axis against two hulls. Both hulls are projected onto the axis and the overlap size is returned if there is one.

Parameters:

• axis Vec3
• hullB ConvexPolyhedron
• posA Vec3
• quatA Quaternion
• posB Vec3
• quatB Quaternion

Returns:

• offset
• quat

Defined in src/shapes/ConvexPolyhedron.js:790

Transform all local points. Will change the .vertices

Parameters:

• offset Vec3
• quat Quaternion

Inherited from Shape but overwritten in src/shapes/ConvexPolyhedron.js:709

Inherited from Shape but overwritten in src/shapes/ConvexPolyhedron.js:764

Get approximate convex volume

Returns:

Inherited from Shape: src/shapes/Shape.js:31

The local bounding sphere radius of this shape.

Inherited from Shape: src/shapes/Shape.js:37

Whether to produce contact forces when in contact with other bodies. Note that contacts will be generated, but they will be disabled.

Defined in src/shapes/ConvexPolyhedron.js:49

Array of Vec3

Defined in src/shapes/ConvexPolyhedron.js:42

Array of integer arrays, indicating which vertices each face consists of

Inherited from Shape: src/shapes/Shape.js:17

Identifyer of the Shape.

Inherited from Shape: src/shapes/Shape.js:43

Inherited from Shape: src/shapes/Shape.js:23

The type of this shape. Must be set to an int > 0 by subclasses.

Defined in src/shapes/ConvexPolyhedron.js:67

If given, these locally defined, normalized axes are the only ones being checked when doing separating axis check.

Defined in src/shapes/ConvexPolyhedron.js:60

Array of Vec3

Defined in src/shapes/ConvexPolyhedron.js:32

Array of Vec3