Interface IPhysicsEngine

interface IPhysicsEngine {
    debugRenderColliders: boolean;
    debugRenderRaycasts: boolean;
    get gravity(): Vec3;
    set gravity(vec3: Vec3): void;
    get isInitialized(): boolean;
    get isUpdating(): boolean;
    get world(): any;
    addBoxCollider(collider: ICollider, size: Vector3): any;
    addCapsuleCollider(
        collider: ICollider,
        radius: number,
        height: number,
    ): any;
    addFixedJoint(body1: IRigidbody, body2: IRigidbody): any;
    addForce(rb: IRigidbody, vec: Vec3, wakeup: boolean): any;
    addHingeJoint(
        body1: IRigidbody,
        body2: IRigidbody,
        anchor: Vec3,
        axis: Vec3,
    ): any;
    addMeshCollider(
        collider: ICollider,
        mesh: Mesh,
        convex: boolean,
        scale?: Vector3,
    ): any;
    addSphereCollider(collider: ICollider): any;
    applyImpulse(rb: IRigidbody, vec: Vec3, wakeup: boolean): any;
    clearCaches(): any;
    getAngularVelocity(rb: IRigidbody): null | Vec3;
    getBody(obj: ICollider | IRigidbody): any;
    getBody(obj: ICollider | IRigidbody): any;
    getComponent(rapierObject: object): null | IComponent;
    getLinearVelocity(rb: ICollider | IRigidbody): null | Vec3;
    initialize(): Promise<boolean>;
    isSleeping(rb: IRigidbody): undefined | boolean;
    postStep(): any;
    raycast(
        origin?: Vec3 | Vec2,
        direction?: Vec3,
        options?: {
            filterGroups?: number;
            filterPredicate?: (collider: ICollider) => boolean;
            maxDistance?: number;
            queryFilterFlags?: QueryFilterFlags;
            solid?: boolean;
        },
    ): RaycastResult;
    raycastAndGetNormal(
        origin?: Vec3 | Vec2,
        direction?: Vec3,
        options?: {
            filterGroups?: number;
            filterPredicate?: (collider: ICollider) => boolean;
            maxDistance?: number;
            queryFilterFlags?: QueryFilterFlags;
            solid?: boolean;
        },
    ): RaycastResult;
    removeBody(body: IComponent): any;
    resetForces(rb: IRigidbody, wakeup: boolean): any;
    resetTorques(rb: IRigidbody, wakeup: boolean): any;
    setAngularVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean): any;
    setLinearVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean): any;
    sphereOverlap(point: Vector3, radius: number): SphereOverlapResult[];
    step(dt: number): void;
    updateBody(
        comp: ICollider | IRigidbody,
        translation: boolean,
        rotation: boolean,
    ): any;
    updatePhysicsMaterial(collider: ICollider): any;
    updateProperties(rb: ICollider | IRigidbody): any;
    wakeup(rb: IRigidbody): any;
}

Implemented by

Properties

debugRenderColliders debugRenderRaycasts

Accessors

gravity isInitialized isUpdating world

Methods

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

Properties

debugRenderColliders

debugRenderColliders: boolean

Enable to render collider shapes

debugRenderRaycasts

debugRenderRaycasts: boolean

Enable to visualize raycasts in the scene with gizmos

Accessors

gravity

  • get gravity(): Vec3

    Returns Vec3

  • set gravity(vec3: Vec3): void

    Parameters

    • vec3: Vec3

    Returns void

isInitialized

  • get isInitialized(): boolean

    Returns boolean

isUpdating

  • get isUpdating(): boolean

    Returns boolean

world

  • get world(): any

    Returns any

Methods

addBoxCollider

addCapsuleCollider

  • addCapsuleCollider(collider: ICollider, radius: number, height: number): any

    Parameters

    • collider: ICollider
    • radius: number
    • height: number

    Returns any

addFixedJoint

addForce

  • addForce(rb: IRigidbody, vec: Vec3, wakeup: boolean): any

    Parameters

    Returns any

addHingeJoint

addMeshCollider

  • addMeshCollider(
        collider: ICollider,
        mesh: Mesh,
        convex: boolean,
        scale?: Vector3,
    ): any

    Parameters

    Returns any

addSphereCollider

applyImpulse

  • applyImpulse(rb: IRigidbody, vec: Vec3, wakeup: boolean): any

    Parameters

    Returns any

clearCaches

  • clearCaches(): any

    clear all possibly cached data (e.g. mesh data when creating scaled mesh colliders)

    Returns any

getAngularVelocity

getBody

getComponent

  • getComponent(rapierObject: object): null | IComponent

    Get the Needle Engine component for a rapier object

    Parameters

    • rapierObject: object

    Returns null | IComponent

getLinearVelocity

initialize

  • initialize(): Promise<boolean>

    Returns Promise<boolean>

isSleeping

postStep

  • postStep(): any

    Returns any

raycast

  • raycast(
        origin?: Vec3 | Vec2,
        direction?: Vec3,
        options?: {
            filterGroups?: number;
            filterPredicate?: (collider: ICollider) => boolean;
            maxDistance?: number;
            queryFilterFlags?: QueryFilterFlags;
            solid?: boolean;
        },
    ): RaycastResult

    Fast raycast against physics colliders

    Parameters

    • Optionalorigin: Vec3 | Vec2

      ray origin in screen or worldspace

    • Optionaldirection: Vec3

      ray direction in worldspace

    • Optionaloptions: {
          filterGroups?: number;
          filterPredicate?: (collider: ICollider) => boolean;
          maxDistance?: number;
          queryFilterFlags?: QueryFilterFlags;
          solid?: boolean;
      }

      additional options

      • OptionalfilterGroups?: number

        Raycast filter groups. Groups are used to apply the collision group rules for the scene query. The scene query will only consider hits with colliders with collision groups compatible with this collision group (using the bitwise test described in the collision groups section). See https://rapier.rs/docs/user_guides/javascript/colliders#collision-groups-and-solver-groups
        For example membership 0x0001 and filter 0x0002 should be 0x00010002

      • OptionalfilterPredicate?: (collider: ICollider) => boolean

        Return false to ignore this collider

      • OptionalmaxDistance?: number
      • OptionalqueryFilterFlags?: QueryFilterFlags
      • Optionalsolid?: boolean

        True if you want to also hit objects when the raycast starts from inside a collider

    Returns RaycastResult

raycastAndGetNormal

  • raycastAndGetNormal(
        origin?: Vec3 | Vec2,
        direction?: Vec3,
        options?: {
            filterGroups?: number;
            filterPredicate?: (collider: ICollider) => boolean;
            maxDistance?: number;
            queryFilterFlags?: QueryFilterFlags;
            solid?: boolean;
        },
    ): RaycastResult

    raycast that also gets the normal vector. If you don't need it use raycast()

    Parameters

    • Optionalorigin: Vec3 | Vec2
    • Optionaldirection: Vec3
    • Optionaloptions: {
          filterGroups?: number;
          filterPredicate?: (collider: ICollider) => boolean;
          maxDistance?: number;
          queryFilterFlags?: QueryFilterFlags;
          solid?: boolean;
      }
      • OptionalfilterGroups?: number

        Raycast filter groups. Groups are used to apply the collision group rules for the scene query. The scene query will only consider hits with colliders with collision groups compatible with this collision group (using the bitwise test described in the collision groups section). See https://rapier.rs/docs/user_guides/javascript/colliders#collision-groups-and-solver-groups
        For example membership 0x0001 and filter 0x0002 should be 0x00010002

      • OptionalfilterPredicate?: (collider: ICollider) => boolean

        Return false to ignore this collider

      • OptionalmaxDistance?: number
      • OptionalqueryFilterFlags?: QueryFilterFlags
      • Optionalsolid?: boolean

        True if you want to also hit objects when the raycast starts from inside a collider

    Returns RaycastResult

removeBody

resetForces

resetTorques

  • resetTorques(rb: IRigidbody, wakeup: boolean): any

    Parameters

    Returns any

setAngularVelocity

  • setAngularVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean): any

    Parameters

    Returns any

setLinearVelocity

  • setLinearVelocity(rb: IRigidbody, vec: Vec3, wakeup: boolean): any

    Parameters

    Returns any

sphereOverlap

step

  • step(dt: number): void

    Parameters

    • dt: number

    Returns void

updateBody

  • updateBody(
        comp: ICollider | IRigidbody,
        translation: boolean,
        rotation: boolean,
    ): any

    Parameters

    Returns any

updatePhysicsMaterial

updateProperties

wakeup

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