physicsCore

physicsCore

Name	Parameters	Purpose
updateGeometry	shapes, verts, pos, bodyMask	Transform shapes into world coordinates and compute their bounds, for the bodies in bodyMask
findPairs	shapes, invMass, margin=0, pairs	Find the pairs of shapes whose bounding boxes overlap and that may collide
solveContacts	contacts, pos, vel, invMass, dt, iterations=10, biasFactor=0.2, slop=0.5, restThreshold=30	Solve contact impulses for one step, updating vel and the contacts' ColPn/ColPt in place
collidePairs	pairs, shapes, verts, margin=0, prevContacts, contacts	Collide shape pairs into a contact matrix (one row per point), warm-started from prevContacts