nape-js API
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    Class PulleyJoint

    Pulley joint — constrains the weighted sum of two distances to remain within [jointMin, jointMax]:

    jointMin ≤ distance(anchor1, anchor2) + ratio * distance(anchor3, anchor4) ≤ jointMax

    This models a rope-and-pulley system where lifting one side lowers the other. All four anchors are in the local space of their respective bodies.

    // Classic pulley: as body2 moves away from anchor1, body4 moves toward anchor3
    const joint = new PulleyJoint(
      body1, body2, body3, body4,
      Vec2.weak(0,0), Vec2.weak(0,0),
      Vec2.weak(0,0), Vec2.weak(0,0),
      0, 200, // total rope length
    );
    joint.space = space;

    Fully modernized — uses ZPP_PulleyJoint directly (extracted to TypeScript).

    Hierarchy (View Summary)

    Index

    Constructors

    constructor

    Properties

    debugDraw

    Accessors

    active anchor1 anchor2 anchor3 anchor4 body1 body2 body3 body4 breakUnderError breakUnderForce cbTypes compound damping frequency ignore isSleeping jointMax jointMin maxError maxForce ratio removeOnBreak space stiff userData

    Methods

    bodyImpulse copy impulse isSlack toString visitBodies

    Constructors

    • Parameters

      • body1: Body | null

        First body (pulley side 1), or null for a static anchor.

      • body2: Body | null

        Second body (pulley side 1), or null for a static anchor.

      • body3: Body | null

        Third body (pulley side 2), or null for a static anchor.

      • body4: Body | null

        Fourth body (pulley side 2), or null for a static anchor.

      • anchor1: Vec2

        Anchor on body1 in local space (disposed if weak).

      • anchor2: Vec2

        Anchor on body2 in local space (disposed if weak).

      • anchor3: Vec2

        Anchor on body3 in local space (disposed if weak).

      • anchor4: Vec2

        Anchor on body4 in local space (disposed if weak).

      • jointMin: number

        Minimum allowed total rope length (must be >= 0).

      • jointMax: number

        Maximum allowed total rope length (must be >= jointMin).

      • ratio: number = 1.0

        Weight of the second distance segment. Default 1.0.

      Returns PulleyJoint

    Properties

    debugDraw: boolean = true

    Accessors

    • get active(): boolean

      Whether the constraint is currently active (enforced by the solver).

      Deactivating a constraint suspends it without removing it from the space.

      Returns boolean

      true

    • set active(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get breakUnderError(): boolean

      When true, the constraint breaks if the positional error exceeds maxError.

      Returns boolean

      false

    • set breakUnderError(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get breakUnderForce(): boolean

      When true, the constraint breaks (fires a BREAK event) if the applied force exceeds maxForce in a single step.

      Returns boolean

      false

    • set breakUnderForce(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get cbTypes(): object

      The set of CbTypes assigned to this constraint. Used to filter which listeners respond to this constraint's events.

      Returns object

    • get damping(): number

      Damping ratio for soft constraints (stiff = false).

      0 = undamped (oscillates freely), 1 = critically damped. Values > 1 are overdamped. Must be >= 0. Ignored when stiff is true.

      Returns number

      1

    • set damping(value: number): void

      Parameters

      • value: number

      Returns void

    • get frequency(): number

      Spring frequency in Hz for soft constraints (stiff = false).

      Higher values make the spring stiffer; lower values make it bouncier. Must be > 0. Ignored when stiff is true.

      Returns number

      10

    • set frequency(value: number): void

      Parameters

      • value: number

      Returns void

    • get ignore(): boolean

      When true the constraint is completely ignored by the engine — bodies are not woken, no impulse is applied, and no callbacks fire.

      Returns boolean

      false

    • set ignore(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get isSleeping(): boolean

      Whether the constraint's simulation component is currently sleeping.

      Only valid when the constraint is active and in a space — throws otherwise.

      Returns boolean

    • get maxError(): number

      Maximum positional error (in pixels) allowed before breaking.

      Only meaningful when breakUnderError is true. Must be >= 0. Infinity disables the limit.

      Returns number

      Infinity

    • set maxError(value: number): void

      Parameters

      • value: number

      Returns void

    • get maxForce(): number

      Maximum force (in Newtons) the constraint may apply per step.

      When the required force exceeds this value the constraint becomes slack. If breakUnderForce is true the constraint breaks instead. Must be >= 0. Infinity disables the limit.

      Returns number

      Infinity

    • set maxForce(value: number): void

      Parameters

      • value: number

      Returns void

    • get ratio(): number

      Weight of the second rope segment in the total length sum.

      The constraint enforces: distance(a1,a2) + ratio * distance(a3,a4) within bounds.

      Returns number

      1.0

    • set ratio(value: number): void

      Parameters

      • value: number

      Returns void

    • get removeOnBreak(): boolean

      When true (default), the constraint is automatically removed from its space when it breaks. Set to false to keep it in the space after breaking.

      Returns boolean

      true

    • set removeOnBreak(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get space(): Space | null

      The space this constraint belongs to, or null if not in a space.

      Assign to add/remove the constraint from a space:

      joint.space = mySpace;  // adds to space
      joint.space = null;     // removes from space

      Cannot be set if the constraint belongs to a Compound.

      Returns Space | null

    • set space(value: Space | null): void

      Parameters

      Returns void

    • get stiff(): boolean

      When true (default) the constraint is stiff/rigid. When false the constraint uses a soft spring model driven by frequency and damping.

      Returns boolean

      true

    • set stiff(value: boolean): void

      Parameters

      • value: boolean

      Returns void

    • get userData(): Record<string, unknown>

      Arbitrary user data attached to this constraint. Lazily initialized to {} on first access.

      Returns Record<string, unknown>

    Methods

    • The impulse applied by this constraint in the last simulation step.

      The shape of the returned MatMN depends on the constraint's degrees of freedom (e.g., 1×1 for AngleJoint/MotorJoint, 2×1 for PivotJoint/LineJoint, 3×1 for WeldJoint).

      Returns MatMN

    • Returns true when the total rope length is within bounds and no corrective impulse was applied last step.

      Returns boolean

      if any of the four bodies is null.

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