The fixed background to which objects can be attached with Springs, Joints or Ropes; it is an immutable singleton object. Access the singleton Scrim object via getScrim.

As a RigidBody, Scrim has infinite mass, infinite extent, and never moves. Its body coordinates are the same as world coordinates.

Scrim does not collide with anything, so it is excluded from the collision and contact detection phases of the physics engine. It can however appear in a ConnectorCollision which are generated by Joint or Rope objects.

Scrim is never on the list of bodies in RigidBodySim, only Polygons appear on that list.

Implements

Methods

  • Adds to set of RigidBodys that do not collide with this body. No collisions or contacts are generated between this body and the given bodies. See doesNotCollide.

    Parameters

    • _bodies: RigidBody[]

      array of RigidBodys that should not be collided with

    Returns void

  • Moves this body so that a certain point on this body is aligned to the given world coordinates location; optionally sets the angle of this body by rotating around the center of mass angle radians counter-clockwise from the body coordinates orientation.

    Parameters

    • _p_body: GenericVector

      the point on this body to be aligned to the new p_world location, in body coordinates

    • _p_world: GenericVector

      the world coordinates location to move the specified p_body point to

    • Optional _opt_angle: number

      the angle in radians to rotate this body counter-clockwise from 'body coordinates' orientation; if not specified then leave the angle as is.

    Returns void

    Throws

    if this MassObject is immoveable

  • Checks if this RigidBody has a collision or contact with another RigidBody, if so adds a new RigidBodyCollision to the list of collisions.

    Parameters

    • _c: Collision[]

      the list of collisions to add to

    • _body: RigidBody

      the RigidBody to check for collisions with

    • _time: number

      current simulation time

    Returns void

  • Creates the JavaScript Canvas path that represents the shape of this object in the given Canvas context using body coordinates. Note that this calls CanvasRenderingContext2D.beginPath() which discards any currently defined path and begins a new one. Also, this concept of 'path' is different from the path of Edges that makes up a Polygon (though the Canvas path is created from those Polygon paths).

    Parameters

    • context: CanvasRenderingContext2D

      the CanvasRenderingContext2D to create the path in

    Returns void

  • Returns the collision distance accuracy, a fraction between zero and one; when the collision distance is within accuracy * targetGap of the target gap distance, then the collision is considered close enough to handle (apply an impulse).

    Returns number

    the collision accuracy, a fraction between 0 (exclusive) and 1 (inclusive)

  • Returns the counter-clockwise angle of rotation of this body about its center of mass, in radians, relative to 'body coordinates' orientation.

    Returns number

    the counter-clockwise angle of rotation of this body about its center of mass, in radians, relative to 'body coordinates' orientation

  • Returns angular velocity of rotation of this body about its center of mass.

    Returns number

    the angular velocity, in radians/second, with positive meaning counter-clockwise rotation about the body's center of mass

  • Returns vertical coordinate of bottom-most point of this body, in body coordinates

    Returns number

    vertical coordinate of bottom-most point of this body, in body coordinates

  • Returns vertical coordinate of bottom-most point of this body, based on its current position and orientation, in world coordinates. This is approximate when the body has curved edges; because this looks at all the Vertex's of the body, and curved edges have a series of 'decorated' Vertexes on them which don't capture the exact nature of the geometric curve.

    Returns number

    vertical coordinate of bottom-most point of this body, in world coordinates

  • Returns whether this SimObject has changed, and sets the state to "unchanged".

    Returns boolean

    whether this SimObject has changed

  • Returns distance tolerance used to determine if this RigidBody is in contact with another RigidBody.

    Returns number

    distance tolerance used to determine if this RigidBody is in contact with another RigidBody

  • Returns the elasticity used when calculating collisions; a value of 1.0 means perfect elasticity where the kinetic energy after collision is the same as before (extremely bouncy), while a value of 0 means no elasticity (no bounce). A collision uses the lesser elasticity value of the two bodies involved.

    Returns number

    elasticity used when calculating collisions, a number from 0 to 1.

  • Returns the expiration time, when this SimObject should be removed from the SimList. This is intended for temporary SimObjects that illustrate, for example, contact forces or collisions.

    Returns number

    the expiration time, in time frame of the Simulation clock

  • Returns horizontal coordinate of left-most point of this body, in body coordinates

    Returns number

    horizontal coordinate of left-most point of this body, in body coordinates

  • Returns vertical coordinate of left-most point of this body, based on its current position and orientation, in world coordinates. This is approximate when the body has curved edges; because this looks at all the Vertex's of the body, and curved edges have a series of 'decorated' Vertexes on them which don't capture the exact nature of the geometric curve.

    Returns number

    vertical coordinate of left-most point of this body, in world coordinates

  • Returns the minimum height that this body's center of gravity can reach, used for potential energy calculations. Put another way: this is how low the center of gravity of this body can be when resting on the ground, and the ground is at height zero.

    Returns number

    the minimum height this body can reach.

  • Name of this SimObject, either the language-independent name for scripting purposes or the localized name for display to user.

    The language-independent name should be the same as the English version but capitalized and with spaces and dashes replaced by underscore, see Util.toName, nameEquals.

    The name should give an idea of the role of the SimObject in the simulation. This allows us to to treat an object in a special way depending on its name. For example, we might use the name to decide what type of DisplayObject to create to represent the SimObject.

    Parameters

    • Optional _opt_localized: boolean

      true means return the localized version of the name; default is false which means return the language independent name.

    Returns string

    name of this SimObject

  • Returns horizontal coordinate of right-most point of this body, in body coordinates

    Returns number

    horizontal coordinate of right-most point of this body, in body coordinates

  • Returns vertical coordinate of right-most point of this body, based on its current position and orientation, in world coordinates. This is approximate when the body has curved edges; because this looks at all the Vertex's of the body, and curved edges have a series of 'decorated' Vertexes on them which don't capture the exact nature of the geometric curve.

    Returns number

    vertical coordinate of right-most point of this body, in world coordinates

  • The normal vector (if any) used in the special edge proximity test. When a special edge has been specified, that Edge that takes priority for collision handling, as in a wall object, and this method returns the normal vector to use for special proximity testing. Otherwise this returns null and regular proximity testing is done. A normal is a unit-length Vector that is perpendicular to an Edge. This maintains a cache to avoid computational costs. See Special Edge for Proximity Testing

    Returns null | Vector

    normal vector for special edge, in world coordinates, or null when there is no special edge

  • Returns vertical coordinate of top-most point of this body, in body coordinates

    Returns number

    vertical coordinate of top-most point of this body, in body coordinates

  • Returns vertical coordinate of top-most point of this body, based on its current position and orientation, in world coordinates. This is approximate when the body has curved edges; because this looks at all the Vertex's of the body, and curved edges have a series of 'decorated' Vertexes on them which don't capture the exact nature of the geometric curve.

    Returns number

    vertical coordinate of top-most point of this body, in world coordinates

  • Returns the name of the specified variable. For more understandable code, you can use the enum RB instead of these index numbers.

    Parameters

    • _index: number

      which variable name is desired: 0 = x-position, 1 = x-velocity, 2 = y-position, 3 = y-velocity, 4 = angle, 5 = angular velocity

    • _localized: boolean

      whether to return localized variable name

    Returns string

    the name of the specified variable for this particular body

  • Returns the index into the VarsList for this RigidBody's first variable (the x-position). The VarsList contains 6 variables for each RigidBody,

    0. x-position,
    1. x-velocity,
    2. y-position,
    3. y-velocity,
    4. angle,
    5. angular velocity
    

    For more understandable code, you can use the enum RB instead of these index numbers.

    Returns number

    the index of the x-position in the VarsList for this body; or -1 if this body is not in the VarsList.

  • Returns velocity of the given point on this object. The point is specified in body coordinates, but the velocity is in world coordinates.

    Parameters

    • Optional _p_body: GenericVector

      the point to find the velocity of, in body coordinates; if undefined, then center of mass is used

    Returns Vector

    the velocity of the given point, in world coordinates

  • Returns velocity tolerance used to determine if this RigidBody is in contact with another RigidBody.

    Velocity tolerance is set on each RigidBody, but we expect it to be the same for all RigidBodys. ImpulseSim 'owns' the velocity tolerance, it is merely passed along to the RigidBody because it is needed during collision finding and RigidBody has no way of finding ImpulseSim.

    Note however that because Scrim is immutable, it always returns zero for velocity tolerance. In this case, use the velocity tolerance of the other non-Scrim RigidBody involved in the collision.

    Returns number

    velocity tolerance used to determine if this RigidBody is in contact with another RigidBody

  • Returns the locations of vertices that define a bounding area, in body coordinates. The vertices might lie outside of the body: for example a circle could have vertices at corners of a bounding box.

    Returns Vector[]

    locations of the vertices in body coordinates

  • Returns the vertical coordinate where the body has zero potential gravitational energy under standard constant gravity when the body's center of mass is at this vertical coordinate.

    Returns null | number

    the vertical world coordinate where this body has zero potential energy; or null to use the default zero energy level

  • Returns moment of inertia about center of mass. This measures how much force is needed to rotate the body about the center of mass. Note that this is the number set via setMomentAboutCM multiplied by the mass of the body.

    Returns number

    moment of inertia about center of mass

  • Returns the linear and angular momentum of this body. Angular momentum about a fixed point in space is defined as

    I_cm vw k + r x m v_cm
    

    where:

    I_cm = moment about center of mass
    vw = angular velocity
    k = unit z vector,
    r = vector from a fixed point to the center of mass (cm)
    m = mass
    v_cm = velocity of center of mass
    

    cross product in the plane is (ax,ay,0) x (bx,by,0) = k(ax by - ay bx) so we get

    I_cm w + m (rx vy - ry vx)
    

    take the fixed point to be the origin (0,0), so (rx,ry) is center of mass.

    Returns number[]

    the momentum of this body as array containing horizontal, vertical and angular momentum in that order.

  • Whether this SimObject has the given name, adjusting for transformation to the language-independent form of the name, as is done by Util.toName.

    Parameters

    • name: string

      the English or language-independent version of the name

    Returns boolean

    whether this SimObject has the given name (adjusted to language-independent form)

  • Whether this RigidBody cannot collide with an Edge or Vertex of another RigidBody. Returns true when passing null for the Edge.

    Parameters

    • edge: null | Edge

      an Edge of another body, or null

    Returns boolean

    true if this body cannot collide with the given Edge; returns true if edge is null.

  • Returns true if the given body coords point is probably inside this polygon.

    WARNING* For debugging only. Does not work for complex (non-convex) shapes.

    Parameters

    • _p_body: Vector

      the point in body coords

    Returns boolean

    true if the given body coords point is probably inside this polygon

  • Rotates a body coordinates vector to its orientation in world coordinates. The vector goes from the origin (0, 0), to the given point in body coordinates. The vector is rotated about the origin by the current angle of this body.

    Parameters

    Returns Vector

    the rotated vector in world coordinates.

  • Rotates a world coordinates vector to its orientation in body coordinates, the inverse of rotateBodyToWorld method. The vector goes from the origin (0, 0), to the given point in world coordinates. The vector is rotated about the origin by the opposite of the current angle of this body.

    Parameters

    • v_world: GenericVector

      the the vector to be rotated, in world coordinates

    Returns Vector

    the rotated vector in body coordinates.

  • Returns the rotational energy of this body. Defined to be: 0.5 * momentAboutCM * vw^2 where vw = angular velocity.

    Returns number

    the rotational energy of this body

  • Makes an internal copy of the geometry of this RigidBody, which is used for future collision checking. This copy is a record of the last location of this object, so that collision checking can determine how the object moved over the last time step. For example, a small object moving at high velocity can pass through a narrow object in a single time step; there is then no interpenetration of the two objects, but if you use the previous position of the small fast object you can see that it has passed through the narrow object. See getOldCoords, eraseOldCoords.

    Returns void

  • Sets the collision distance accuracy, a fraction between zero and one; when the collision distance is within accuracy * targetGap of the target gap distance, then the collision is considered close enough to handle (apply an impulse).

    Parameters

    • _value: number

      how close in distance to be in order to handle a collision

    Returns void

    Throws

    if value is out of the range 0 to 1, or is exactly zero

  • Sets the angle in radians of counter-clockwise rotation of this object around its center of mass. Angle zero draws the object in the same orientation as in body coordinates. Angle Math.PI/2 rotates the body clockwise 90 degrees from its body coordinates orientation.

    Parameters

    • _angle: number

      the angle in radians to rotate this object counter-clockwise about its center of mass from 'body coordinates' orientation

    Returns void

  • Sets angular velocity of rotation of this body about its center of mass.

    Parameters

    • _angular_velocity: number

      the angular velocity, in radians/second, with positive meaning counter-clockwise rotation about the body's center of mass

    Returns void

  • Sets distance tolerance to use to determine if this RigidBody is in contact with another RigidBody.

    Parameters

    • _value: number

      distance tolerance to use to determine if this RigidBody is in contact with another RigidBody

    Returns void

  • Sets the locations where a mouse can drag this object, in body coordinates.

    Parameters

    • _dragPts: Vector[]

      the locations where a mouse can drag this object, in body coordinates

    Returns void

  • Sets the elasticity used when calculating collisions; a value of 1.0 means perfect elasticity where the kinetic energy after collision is the same as before (extremely bouncy), while a value of 0 means no elasticity (no bounce). A collision uses the lesser elasticity value of the two bodies involved.

    Parameters

    • _value: number

      elasticity used when calculating collisions, a number from 0 to 1.

    Returns void

  • Sets the expiration time, when this SimObject should be removed from the SimList. This is intended for temporary SimObjects that illustrate, for example, contact forces or collisions.

    Parameters

    Returns void

  • Set the mass of this MassObject.

    Note that when setting the mass on a MassObject you should also set accordingly the moment of inertia about center of mass, see setMomentAboutCM.

    Parameters

    • _mass: number

      the mass of this MassObject

    Returns void

  • Sets the minimum height that this body can reach, used for potential energy calculations. That is, how low can the center of gravity of this body go?

    Parameters

    • _minHeight: number

      the minimum height that this body can reach.

    Returns void

  • Sets the moment of inertia about the center of mass for this body divided by the mass of this body. The moment of inertia, Icm, measures how much force is needed to rotate the body about the center of mass. Icm depends on the shape of the object and how mass is distributed. For a thin rectangular plate:

    Icm = mass * (width^2 + height^2) / 12
    

    For a thin circular plate:

    Icm = mass * radius^2 / 2
    

    Note that momentAboutCM returns the number specified here multiplied by the mass of the body.

    Parameters

    • _moment: number

      the moment of inertia about the center of mass for this body divided by the mass of this body

    Returns void

  • Moves this body so that the center of mass is at the given world coordinates location; rotates this body counter-clockwise about center of mass from 'body coordinates' orientation by the given angle in radians.

    Parameters

    • loc_world: GenericVector

      the location in world coordinates

    • Optional angle: number

      the angle in radians to rotate this body counter-clockwise from 'body coordinates' orientation; if undefined then angle is not changed

    Returns void

  • Moves this body so that the center of mass is at the given world coordinates X (horizontal) location.

    Parameters

    • _value: number

      the horizontal location in world coordinates

    Returns void

  • Moves this body so that the center of mass is at the given world coordinates Y (vertical) location.

    Parameters

    • _value: number

      the vertical location in world coordinates

    Returns void

  • Sets the index into the VarsList for this RigidBody's first variable (the x-position). The VarsList contains 6 variables for each RigidBody,

    0. x-position,
    1. x-velocity,
    2. y-position,
    3. y-velocity,
    4. angle,
    5. angular velocity
    

    For more understandable code, you can use the enum RB instead of these index numbers.

    Parameters

    • _index: number

      the index of the x-position in the VarsList for this RigidBody; or -1 if this RigidBody is not in the VarsList.

    Returns void

  • Set the linear velocity of this objects's center of mass, and (optional) angular velocity of rotation about the objects's center of mass.

    Parameters

    • velocity_world: GenericVector

      the velocity in world coordinates/second

    • Optional angular_velocity: number

      the angular velocity, in radians/second, with positive meaning counter-clockwise rotation about the body's center of mass; if undefined, then angular velocity is not changed

    Returns void

  • Sets velocity tolerance to use to determine if this RigidBody is in contact with another RigidBody

    Parameters

    • _value: number

      velocity tolerance to use to determine if this RigidBody is in contact with another RigidBody

    Returns void

  • Set the linear horizontal velocity of this objects's center of mass.

    Parameters

    • _value: number

      the horizontal velocity in world coordinates

    Returns void

  • Set the linear vertical velocity of this objects's center of mass.

    Parameters

    • _value: number

      the vertical velocity in world coordinates

    Returns void

  • Sets the vertical coordinate where the body has zero potential gravitational energy under standard constant gravity when the body's center of mass is at this vertical coordinate.

    Parameters

    • Optional _height: number

      the vertical world coordinate where this body has zero potential energy; NaN means to use default level; undefined means use the body's current vertical location is used

    Returns void

  • Returns true if the given SimObject is similar to this SimObject for display purposes. SimObjects are similar when they are the same type and nearly the same size and location. Mainly used when showing forces - to avoid adding too many objects to the display. See SimList.getSimilar.

    Parameters

    • _obj: SimObject

      the SimObject to compare to

    • Optional _opt_tolerance: number

      the amount the object components can differ by

    Returns boolean

    true if this SimObject is similar to obj for display purposes

  • Returns a minimal string representation of this object, usually giving just identity information like the class name and name of the object.

    For an object whose main purpose is to represent another Printable object, it is recommended to include the result of calling toStringShort on that other object. For example, calling toStringShort() on a DisplayShape might return something like this:

    DisplayShape{polygon:Polygon{'chain3'}}
    

    Returns string

    a minimal string representation of this object.

  • Returns the translational energy of this body. Defined to be: 0.5*mass*(vx^2 + vy^2) where vx = horizontal velocity, and vy = vertical velocity.

    Returns number

    the translational energy of this body

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