Class RapierPhysics

Implements

  • IPhysicsEngine

Constructors

constructor

Accessors

gravity isUpdating

Methods

addBoxCollider addCapsuleCollider addFixedJoint addForce addHingeJoint addImpulse addMeshCollider addSphereCollider applyImpulse clearCaches getAngularVelocity getLinearVelocity initialize postStep raycast raycastAndGetNormal removeBody resetForces resetTorques setAngularVelocity setLinearVelocity sphereOverlap step updateBody updateProperties wakeup

Constructors

constructor

Accessors

gravity

  • get gravity(): Vec3

  • Returns Vec3

  • set gravity(value): void

  • Parameters

    • value: Vec3

    Returns void

isUpdating

  • get isUpdating(): boolean

  • Returns boolean

Methods

addBoxCollider

  • addBoxCollider(collider, center, size): Promise<void>

  • Parameters

    • collider: ICollider
    • center: Vector3
    • size: Vector3

    Returns Promise<void>

addCapsuleCollider

  • addCapsuleCollider(collider, center, height, radius): Promise<void>

  • Parameters

    • collider: ICollider
    • center: Vector3
    • height: number
    • radius: number

    Returns Promise<void>

addFixedJoint

  • addFixedJoint(body1, body2): void

  • Parameters

    • body1: IRigidbody
    • body2: IRigidbody

    Returns void

addForce

  • addForce(rigidbody, force, wakeup): void

  • Parameters

    • rigidbody: IRigidbody
    • force: Vec3
    • wakeup: boolean

    Returns void

addHingeJoint

  • addHingeJoint(body1, body2, anchor, axis): void

  • The joint prevents any relative movement between two rigid-bodies, except for relative rotations along one axis. This is typically used to simulate wheels, fans, etc. They are characterized by one local anchor as well as one local axis on each rigid-body.

    Parameters

    • body1: IRigidbody
    • body2: IRigidbody
    • anchor: {
          x: number;
          y: number;
          z: number;
      }
      • x: number
      • y: number
      • z: number
    • axis: {
          x: number;
          y: number;
          z: number;
      }
      • x: number
      • y: number
      • z: number

    Returns void

addImpulse

  • addImpulse(rigidbody, force, wakeup): void

  • Parameters

    • rigidbody: IRigidbody
    • force: Vec3
    • wakeup: boolean

    Returns void

addMeshCollider

  • addMeshCollider(collider, mesh, convex, scale): Promise<void>

  • Parameters

    • collider: ICollider
    • mesh: Mesh
    • convex: boolean
    • scale: Vector3

    Returns Promise<void>

addSphereCollider

  • addSphereCollider(collider, center, radius): Promise<void>

  • Parameters

    • collider: ICollider
    • center: Vector3
    • radius: number

    Returns Promise<void>

applyImpulse

  • applyImpulse(rb, vec, wakeup): void

  • Parameters

    • rb: IRigidbody
    • vec: Vec3
    • wakeup: boolean

    Returns void

clearCaches

  • clearCaches(): void

  • Returns void

getAngularVelocity

  • getAngularVelocity(rb): Vec3

  • Parameters

    • rb: IRigidbody

    Returns Vec3

getLinearVelocity

  • getLinearVelocity(rigidbody): Vec3

  • Parameters

    • rigidbody: IRigidbody

    Returns Vec3

initialize

  • initialize(context): Promise<boolean>

  • Parameters

    • context: IContext

    Returns Promise<boolean>

postStep

  • postStep(): void

  • Returns void

raycast

  • raycast(origin, direction?, maxDistance?, solid?): {
        collider: ICollider;
        point: Vector3;
    }

  • Fast raycast against physics colliders

    Parameters

    • origin: Vec3 | Vec2

      ray origin in screen or worldspace

    • direction: Vec3 = undefined

      ray direction in worldspace

    • maxDistance: number = Infinity

      max distance to raycast

    • solid: boolean = true

      if true it will also hit the collider if origin is already inside it

    Returns {
        collider: ICollider;
        point: Vector3;
    }

    • collider: ICollider
    • point: Vector3

raycastAndGetNormal

  • raycastAndGetNormal(origin, direction?, maxDistance?, solid?): {
        collider: ICollider;
        normal: Vector3;
        point: Vector3;
    }

  • Parameters

    • origin: Vec3 | Vec2
    • direction: Vec3 = undefined
    • maxDistance: number = Infinity
    • solid: boolean = true

    Returns {
        collider: ICollider;
        normal: Vector3;
        point: Vector3;
    }

    • collider: ICollider
    • normal: Vector3
    • point: Vector3

removeBody

  • removeBody(obj): void

  • Parameters

    • obj: IComponent

    Returns void

resetForces

  • resetForces(rb, wakeup): void

  • Parameters

    • rb: IRigidbody
    • wakeup: boolean

    Returns void

resetTorques

  • resetTorques(rb, wakeup): void

  • Parameters

    • rb: IRigidbody
    • wakeup: boolean

    Returns void

setAngularVelocity

  • setAngularVelocity(rb, vec, wakeup): void

  • Parameters

    • rb: IRigidbody
    • vec: Vec3
    • wakeup: boolean

    Returns void

setLinearVelocity

  • setLinearVelocity(rb, vec, wakeup): void

  • Parameters

    • rb: IRigidbody
    • vec: Vec3
    • wakeup: boolean

    Returns void

sphereOverlap

  • sphereOverlap(point, radius): SphereOverlapResult[]

  • Precice sphere overlap detection using rapier against colliders

    Parameters

    • point: Vector3

      center of the sphere in worldspace

    • radius: number

      radius of the sphere

    Returns SphereOverlapResult[]

    array of colliders that overlap with the sphere. Note: they currently only contain the collider and the gameobject

step

  • step(dt?): void

  • Parameters

    • Optional dt: number

    Returns void

updateBody

  • updateBody(comp, translation, rotation): void

  • Parameters

    • comp: ICollider | IRigidbody
    • translation: boolean
    • rotation: boolean

    Returns void

updateProperties

  • updateProperties(rigidbody): void

  • Parameters

    • rigidbody: IRigidbody

    Returns void

wakeup

  • wakeup(rb): void

  • Parameters

    • rb: IRigidbody

    Returns void

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