Build

Author: marcofugaro

dist/cannon-es.cjs.js

@@ -1801,6 +1801,8 @@ class Quaternion {
     target.x = bank;
   }
   /**
+   * Set the quaternion components given Euler angle representation.
+   *
    * @param order The order to apply angles: 'XYZ' or 'YXZ' or any other combination.
    *
    * See {@link https://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors MathWorks} reference
@@ -10457,7 +10459,8 @@ class Narrowphase {
 
     if (friction > 0) {
       // Create 2 tangent equations
-      const mug = friction * world.gravity.length();
+      // Users may provide a force different from global gravity to use when computing contact friction.
+      const mug = friction * (world.frictionGravity || world.gravity).length();
       let reducedMass = bodyA.invMass + bodyB.invMass;
 
       if (reducedMass > 0) {
@@ -12115,6 +12118,12 @@ class World extends EventTarget {
    * The gravity of the world.
    */
 
+  /**
+   * Gravity to use when approximating the friction max force (mu*mass*gravity).
+   * If undefined, global gravity will be used.
+   * Use to enable friction in a World with a null gravity vector (no gravity).
+   */
+
   /**
    * The broadphase algorithm to use.
    * @default NaiveBroadphase
@@ -12191,6 +12200,11 @@ class World extends EventTarget {
       this.gravity.copy(options.gravity);
     }
 
+    if (options.frictionGravity) {
+      this.frictionGravity = new Vec3();
+      this.frictionGravity.copy(options.frictionGravity);
+    }
+
     this.broadphase = options.broadphase !== undefined ? options.broadphase : new NaiveBroadphase();
     this.bodies = [];
     this.hasActiveBodies = false;

dist/cannon-es.d.ts

@@ -799,6 +799,7 @@ declare module "world/World" {
         default_dt: number;
         nextId: number;
         gravity: Vec3;
+        frictionGravity?: Vec3;
         broadphase: Broadphase;
         bodies: Body[];
         hasActiveBodies: boolean;
@@ -837,6 +838,7 @@ declare module "world/World" {
         lastCallTime?: number;
         constructor(options?: {
             gravity?: Vec3;
+            frictionGravity?: Vec3;
             allowSleep?: boolean;
             broadphase?: Broadphase;
             solver?: Solver;

dist/cannon-es.js

@@ -1797,6 +1797,8 @@ class Quaternion {
     target.x = bank;
   }
   /**
+   * Set the quaternion components given Euler angle representation.
+   *
    * @param order The order to apply angles: 'XYZ' or 'YXZ' or any other combination.
    *
    * See {@link https://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors MathWorks} reference
@@ -10453,7 +10455,8 @@ class Narrowphase {
 
     if (friction > 0) {
       // Create 2 tangent equations
-      const mug = friction * world.gravity.length();
+      // Users may provide a force different from global gravity to use when computing contact friction.
+      const mug = friction * (world.frictionGravity || world.gravity).length();
       let reducedMass = bodyA.invMass + bodyB.invMass;
 
       if (reducedMass > 0) {
@@ -12111,6 +12114,12 @@ class World extends EventTarget {
    * The gravity of the world.
    */
 
+  /**
+   * Gravity to use when approximating the friction max force (mu*mass*gravity).
+   * If undefined, global gravity will be used.
+   * Use to enable friction in a World with a null gravity vector (no gravity).
+   */
+
   /**
    * The broadphase algorithm to use.
    * @default NaiveBroadphase
@@ -12187,6 +12196,11 @@ class World extends EventTarget {
       this.gravity.copy(options.gravity);
     }
 
+    if (options.frictionGravity) {
+      this.frictionGravity = new Vec3();
+      this.frictionGravity.copy(options.frictionGravity);
+    }
+
     this.broadphase = options.broadphase !== undefined ? options.broadphase : new NaiveBroadphase();
     this.bodies = [];
     this.hasActiveBodies = false;