constructor

• new CollisionAdvance<T>(sim, opt_diffEqSolver?): CollisionAdvance<T>

• Type Parameters

  • T extends Collision

  Returns CollisionAdvance<T>

Private backupCount_

backupCount_: number = 0

Private binarySearch_

binarySearch_: boolean = false

Private binarySteps_

binarySteps_: number = 0

Private collisionCounter_

collisionCounter_: number = 0

Private collisionTotals_

Private collisions_

collisions_: T[] = []

Private currentStep_

currentStep_: number = 0

Private debugPaint_

debugPaint_: null | (() => void) = null

Private detectedTime_

detectedTime_: number = NaN

Private jointSmallImpacts_

jointSmallImpacts_: boolean = false

Private nextEstimate_

nextEstimate_: number = NaN

Private odeSteps_

odeSteps_: number = 0

Private printTime_

printTime_: number = Number.NEGATIVE_INFINITY

Private removedCollisions_

removedCollisions_: T[] = []

Private stats_

Private stuckCount_

stuckCount_: number = 0

Private timeAdvanced_

timeAdvanced_: number = 0

Private timeStep_

timeStep_: number = 0.025

Private totalTimeStep_

totalTimeStep_: number = 0

Private wayPoints_

Static Readonly MAX_STUCK_COUNT

MAX_STUCK_COUNT: 30 = 30

addWayPoints

• addWayPoints(wayPoints): void

• Returns void

advance

• advance(timeStep, opt_memoList?): void

• Parameters

  • timeStep: number

  • Optional opt_memoList: MemoList

  Returns void

Private allVelocities

• allVelocities(collisions): number[]

• Parameters

  • collisions: T[]

  Returns number[]

  minimum velocities

Private calc_next_step

• calc_next_step(didBackup): void

• Parameters

  • didBackup: boolean

  Returns void

Private checkNoneCollide

• checkNoneCollide(): void

• Returns void

Private do_advance_sim

• do_advance_sim(stepSize): boolean

• Parameters

  • stepSize: number

  Returns boolean

Private do_backup

• do_backup(stepSize): void

• Parameters

  • stepSize: number

  Returns void

Private do_handle_collision

• do_handle_collision(numClose): boolean

• Parameters

  • numClose: number

  Returns boolean

Private do_small_impacts

• do_small_impacts(): void

• Returns void

getCollisionTotals

• getCollisionTotals(): CollisionTotals

• Returns CollisionTotals

  the CollisionTotals object giving collision statistics.

getDiffEqSolver

• getDiffEqSolver(): DiffEqSolver

• Returns DiffEqSolver

  the DiffEqSolver used to solve the differential equations

getJointSmallImpacts

• getJointSmallImpacts(): boolean

• Returns boolean

  true means apply small impacts to joints

getTime

• getTime(): number

• Returns number

  the current simulation time.

getTimeStep

• getTimeStep(): number

• Returns number

  the default time step, in seconds.

getWayPoints

• getWayPoints(): WayPoint[]

• Returns WayPoint[]

  the group of WayPoints to show debug messages at.

Private jointFlags

• jointFlags(collisions): boolean[]

• Parameters

  • collisions: T[]

  Returns boolean[]

  joint flags

Private maxImpulse

• maxImpulse(collisions): number

• Parameters

  • collisions: T[]

  Returns number

  maximum impulse applied

Private minVelocity

• minVelocity(collisions): number

• Parameters

  • collisions: T[]

  Returns number

  minimum velocity

Private myPrint

• myPrint(message, ...colors): void

• Parameters

  • message: string

  • Rest ...colors: string[]

  Returns void

Private print

• print(wayPoint): void

• Returns void

Private printCollision

• printCollision(time, msg, c): void

• Parameters

  • time: number

  • msg: string

  • c: T

  Returns void

Private printCollisions

• printCollisions(msg, printAll): void

• Parameters

  • msg: string

  • printAll: boolean

  Returns void

Private printCollisions2

• printCollisions2(msg, impulse): void

• Parameters

  • msg: string

  • impulse: number

  Returns void

Private removeDistant

• removeDistant(_allowTiny): boolean

• Parameters

  • _allowTiny: boolean

  Returns boolean

  true if any collisions were removed

reset

• reset(): void

• Returns void

save

• save(): void

• Returns void

setDebugLevel

• setDebugLevel(debugLevel): void

• Returns void

setDebugPaint

• setDebugPaint(fn): void

• Parameters

  • fn: null | (() => void)

  Returns void

setDiffEqSolver

• setDiffEqSolver(diffEqSolver): void

• Returns void

setJointSmallImpacts

• setJointSmallImpacts(value): void

• Parameters

  • value: boolean

  Returns void

setTimeStep

• setTimeStep(timeStep): void

• Parameters

  • timeStep: number

  Returns void

setWayPoints

• setWayPoints(wayPoints): void

• Returns void

toStringShort

• toStringShort(): string

• Returns string

  a minimal string representation of this object.