mirror of
https://github.com/wassname/phaser.git
synced 2026-09-09 11:28:47 +08:00
Doing one final commit before the task of merging physics with core.
This commit is contained in:
Richard Davey
@@ -143,6 +143,9 @@ module Phaser.Physics.Advanced {
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// Shapes
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public shapes: IShape[] = [];
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// Length of the shapes array
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public shapesLength: number;
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// Joints
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public joints: IJoint[] = [];
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public jointHash = {};
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@@ -163,7 +166,7 @@ module Phaser.Physics.Advanced {
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public duplicate() {
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//console.log('body duplicate called');
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console.log('body duplicate called');
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//var body = new Body(this.type, this.transform.t, this.angle);
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@@ -274,6 +277,8 @@ module Phaser.Physics.Advanced {
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this.shapes.push(shape);
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this.shapesLength = this.shapes.length;
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return shape;
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}
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@@ -288,8 +293,9 @@ module Phaser.Physics.Advanced {
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shape.body = undefined;
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}
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}
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this.shapesLength = this.shapes.length;
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}
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private setMass(mass) {
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@@ -307,8 +313,8 @@ module Phaser.Physics.Advanced {
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public setTransform(pos, angle) {
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this.transform.setTo(pos, angle);
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// inject the transform into this.position
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this.transform.setTo(pos, angle);
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Manager.write('setTransform: ' + this.position.toString());
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Manager.write('centroid: ' + this.centroid.toString());
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Phaser.TransformUtils.transform(this.transform, this.centroid, this.position);
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@@ -399,20 +405,14 @@ module Phaser.Physics.Advanced {
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if (!this.fixedRotation)
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{
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//this.setInertia(totalInertia - totalMass * vec2.dot(this.centroid, this.centroid));
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this.setInertia(totalInertia - totalMass * Phaser.Vec2Utils.dot(this.centroid, this.centroid));
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}
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//console.log("mass = " + this.m + " inertia = " + this.i);
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// Move center of mass
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var oldPosition: Phaser.Vec2 = Phaser.Vec2Utils.clone(this.position);
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//this.position.copyFrom(this.transform.transform(this.centroid));
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Phaser.TransformUtils.transform(this.transform, this.centroid, this.position);
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// Update center of mass velocity
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//this.velocity.mad(vec2.perp(vec2.sub(this.position, old_p)), this.angularVelocity);
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oldPosition.subtract(this.position);
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this.velocity.multiplyAddByScalar(Phaser.Vec2Utils.perp(oldPosition, oldPosition), this.angularVelocity);
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@@ -462,7 +462,6 @@ module Phaser.Physics.Advanced {
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public updateVelocity(gravity, dt, damping) {
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// this.velocity = vec2.mad(this.velocity, vec2.mad(gravity, this.force, this.massInverted), dt);
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Phaser.Vec2Utils.multiplyAdd(gravity, this.force, this.massInverted, this._tempVec2);
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Phaser.Vec2Utils.multiplyAdd(this.velocity, this._tempVec2, dt, this.velocity);
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@@ -513,17 +512,10 @@ module Phaser.Physics.Advanced {
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return v < min ? min : (v > max ? max : v);
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}
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public updatePosition(dt) {
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public updatePosition(dt:number) {
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//console.log('body update pos', this.position.y);
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//console.log('pre add temp', this._tempVec2.y);
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//this.position.addself(vec2.scale(this.velocity, dt));
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this.position.add(Phaser.Vec2Utils.scale(this.velocity, dt, this._tempVec2));
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//console.log('post add temp', this._tempVec2.y);
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//console.log('post add', this.position.y);
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this.angle += this.angularVelocity * dt;
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}
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@@ -547,10 +539,8 @@ module Phaser.Physics.Advanced {
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this.force.add(force);
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// this.f.addself(force);
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// this.torque += vec2.cross(vec2.sub(p, this.p), force);
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Phaser.Vec2Utils.subtract(p, this.position, this._tempVec2);
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this.torque += Phaser.Vec2Utils.cross(this._tempVec2, force);
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}
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@@ -601,8 +591,6 @@ module Phaser.Physics.Advanced {
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this.velocity.multiplyAddByScalar(impulse, this.massInverted);
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// this.angularVelocity += vec2.cross(vec2.sub(p, this.position), impulse) * this.inertiaInverted;
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Phaser.Vec2Utils.subtract(p, this.position, this._tempVec2);
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this.angularVelocity += Phaser.Vec2Utils.cross(this._tempVec2, impulse) * this.inertiaInverted;
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@@ -36,7 +36,7 @@ module Phaser.Physics.Advanced {
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}
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public static write(s: string) {
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//Manager.debug.textContent += s + "\n";
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Manager.debug.textContent += s + "\n";
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}
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public static writeAll() {
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@@ -119,10 +119,10 @@ module Phaser.Physics.Advanced {
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public lastTime: number = Date.now();
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public frameRateHz: number = 60;
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public timeDelta: number = 0;
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public paused: bool = false;
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public step: bool = false; // step through the simulation (i.e. per click)
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//public paused: bool = true;
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//public paused: bool = false;
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//public step: bool = false; // step through the simulation (i.e. per click)
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public paused: bool = true;
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public step: bool = false; // step through the simulation (i.e. per click)
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public velocityIterations: number = 8;
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public positionIterations: number = 4;
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//public velocityIterations: number = 1;
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@@ -170,12 +170,6 @@ module Phaser.Physics.Advanced {
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{
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this.timeDelta = 0;
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}
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//if (sceneIndex < demoArr.length)
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//{
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// demo = demoArr[sceneIndex];
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// demo.runFrame();
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//}
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}
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//frameCount++;
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+194
-183
@@ -20,33 +20,61 @@ module Phaser.Physics.Advanced {
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constructor() {
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this.bodyArr = [];
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this.bodies = [];
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this.bodyHash = {};
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this.jointArr = [];
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this.joints = [];
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this.jointHash = {};
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this.numContacts = 0;
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this.contactSolvers = [];
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//this.postSolve(arb) { };
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this.gravity = new Phaser.Vec2(0, 10);
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this.damping = 0;
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this._linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
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this._angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
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}
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// Delta Timer
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private _delta: number;
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private _deltaInv: number;
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// Body array length
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private _bl: number;
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// Joints array length
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private _jl: number;
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// Contact Solvers array length
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private _cl: number;
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private _linTolSqr: number;
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private _angTolSqr: number;
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// Minimum sleep time (used in the sleep process solver)
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private _minSleepTime: number;
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private _positionSolved: bool;
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private _shape1: IShape;
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private _shape2: IShape;
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private _contactsOk: bool;
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private _jointsOk: bool;
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private bodyHash;
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private jointHash;
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public static TIME_TO_SLEEP = 0.5;
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public static SLEEP_LINEAR_TOLERANCE = 0.5;
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public static SLEEP_ANGULAR_TOLERANCE = 2 * Phaser.GameMath.DEG_TO_RAD;
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public bodyArr: Body[];
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public bodyHash;
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public jointArr: IJoint[];
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public jointHash;
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public bodies: Body[];
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public joints: IJoint[];
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public numContacts: number;
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public contactSolvers: ContactSolver[];
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public postSolve;
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public postSolve = null;
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public gravity: Phaser.Vec2;
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public damping: number;
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public stepCount: number = 0;
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@@ -57,18 +85,18 @@ module Phaser.Physics.Advanced {
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Manager.bodyCounter = 0;
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Manager.jointCounter = 0;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
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{
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if (this.bodyArr[i])
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if (this.bodies[i])
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{
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this.removeBody(this.bodyArr[i]);
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this.removeBody(this.bodies[i]);
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}
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}
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this.bodyArr = [];
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this.bodies = [];
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this.bodyHash = {};
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this.jointArr = [];
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this.joints = [];
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this.jointHash = {};
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this.contactSolvers = [];
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@@ -84,7 +112,7 @@ module Phaser.Physics.Advanced {
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return;
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}
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var index = this.bodyArr.push(body) - 1;
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var index = this.bodies.push(body) - 1;
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this.bodyHash[body.id] = index;
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body.awake(true);
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@@ -100,7 +128,7 @@ module Phaser.Physics.Advanced {
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return;
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}
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// Remove linked joint
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// Remove linked joints
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for (var i = 0; i < body.joints.length; i++)
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{
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if (body.joints[i])
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@@ -113,7 +141,7 @@ module Phaser.Physics.Advanced {
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var index = this.bodyHash[body.id];
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delete this.bodyHash[body.id];
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delete this.bodyArr[index];
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delete this.bodies[index];
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}
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@@ -127,7 +155,7 @@ module Phaser.Physics.Advanced {
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joint.body1.awake(true);
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joint.body2.awake(true);
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var index = this.jointArr.push(joint) - 1;
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var index = this.joints.push(joint) - 1;
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this.jointHash[joint.id] = index;
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var index = joint.body1.joints.push(joint) - 1;
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@@ -158,7 +186,7 @@ module Phaser.Physics.Advanced {
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var index = this.jointHash[joint.id];
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delete this.jointHash[joint.id];
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delete this.jointArr[index];
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delete this.joints[index];
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}
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@@ -166,9 +194,9 @@ module Phaser.Physics.Advanced {
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var firstShape;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
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{
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var body = this.bodyArr[i];
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var body = this.bodies[i];
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if (!body)
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{
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@@ -206,9 +234,9 @@ module Phaser.Physics.Advanced {
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var firstBody;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
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{
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var body = this.bodyArr[i];
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var body = this.bodies[i];
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if (!body)
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{
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@@ -245,14 +273,14 @@ module Phaser.Physics.Advanced {
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}
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// TODO: Replace this function to shape hashing
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public shapeById(id) {
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var shape;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
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{
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var body = this.bodyArr[i];
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var body: Body = this.bodies[i];
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if (!body)
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{
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continue;
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@@ -276,7 +304,7 @@ module Phaser.Physics.Advanced {
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if (index != undefined)
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{
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return this.jointArr[index];
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return this.joints[index];
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}
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return null;
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@@ -288,9 +316,9 @@ module Phaser.Physics.Advanced {
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refVertexId = refVertexId || -1;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
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{
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var body = this.bodyArr[i];
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var body = this.bodies[i];
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if (!body)
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{
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@@ -334,9 +362,9 @@ module Phaser.Physics.Advanced {
|
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refEdgeId = refEdgeId || -1;
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for (var i = 0; i < this.bodyArr.length; i++)
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for (var i = 0; i < this.bodies.length; i++)
|
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{
|
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var body = this.bodyArr[i];
|
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var body = this.bodies[i];
|
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|
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if (!body)
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{
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@@ -387,9 +415,9 @@ module Phaser.Physics.Advanced {
|
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|
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refJointId = refJointId || -1;
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|
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for (var i = 0; i < this.jointArr.length; i++)
|
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for (var i = 0; i < this.joints.length; i++)
|
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{
|
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var joint = this.jointArr[i];
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var joint = this.joints[i];
|
||||
|
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if (!joint)
|
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{
|
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@@ -429,13 +457,13 @@ module Phaser.Physics.Advanced {
|
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return firstJointId;
|
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}
|
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|
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public findContactSolver(shape1, shape2) {
|
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private findContactSolver(shape1:IShape, shape2:IShape):ContactSolver {
|
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|
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Manager.write('findContactSolver. Length: ' + this.contactSolvers.length);
|
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Manager.write('findContactSolver. Length: ' + this._cl);
|
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|
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for (var i = 0; i < this.contactSolvers.length; i++)
|
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for (var i = 0; i < this._cl; i++)
|
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{
|
||||
var contactSolver = this.contactSolvers[i];
|
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var contactSolver: ContactSolver = this.contactSolvers[i];
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|
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if (shape1 == contactSolver.shape1 && shape2 == contactSolver.shape2)
|
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{
|
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@@ -444,363 +472,346 @@ module Phaser.Physics.Advanced {
|
||||
}
|
||||
|
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return null;
|
||||
|
||||
}
|
||||
|
||||
public genTemporalContactSolvers() {
|
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private genTemporalContactSolvers() {
|
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|
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Manager.write('genTemporalContactSolvers');
|
||||
|
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var newContactSolverArr = [];
|
||||
var bl: number = this.bodyArr.length;
|
||||
|
||||
this._cl = 0;
|
||||
this.contactSolvers.length = 0;
|
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this.numContacts = 0;
|
||||
|
||||
for (var body1_index = 0; body1_index < bl; body1_index++)
|
||||
for (var body1Index = 0; body1Index < this._bl; body1Index++)
|
||||
{
|
||||
var body1: Body = this.bodyArr[body1_index];
|
||||
|
||||
if (!body1)
|
||||
if (!this.bodies[body1Index])
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
body1.stepCount = this.stepCount;
|
||||
this.bodies[body1Index].stepCount = this.stepCount;
|
||||
|
||||
for (var body2_index = 0; body2_index < bl; body2_index++)
|
||||
for (var body2Index = 0; body2Index < this._bl; body2Index++)
|
||||
{
|
||||
var body2: Body = this.bodyArr[body2_index];
|
||||
|
||||
if (body1.inContact(body2) == false)
|
||||
if (this.bodies[body1Index].inContact(this.bodies[body2Index]) == false)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
Manager.write('body1 and body2 intersect');
|
||||
|
||||
for (var i = 0; i < body1.shapes.length; i++)
|
||||
for (var i = 0; i < this.bodies[body1Index].shapesLength; i++)
|
||||
{
|
||||
for (var j = 0; j < body2.shapes.length; j++)
|
||||
for (var j = 0; j < this.bodies[body2Index].shapesLength; j++)
|
||||
{
|
||||
var shape1 = body1.shapes[i];
|
||||
var shape2 = body2.shapes[j];
|
||||
this._shape1 = this.bodies[body1Index].shapes[i];
|
||||
this._shape2 = this.bodies[body2Index].shapes[j];
|
||||
|
||||
var contactArr = [];
|
||||
|
||||
if (!Manager.collision.collide(shape1, shape2, contactArr))
|
||||
if (!Manager.collision.collide(this._shape1, this._shape2, contactArr))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (shape1.type > shape2.type)
|
||||
if (this._shape1.type > this._shape2.type)
|
||||
{
|
||||
var temp = shape1;
|
||||
shape1 = shape2;
|
||||
shape2 = temp;
|
||||
var temp = this._shape1;
|
||||
this._shape1 = this._shape2;
|
||||
this._shape2 = temp;
|
||||
}
|
||||
|
||||
this.numContacts += contactArr.length;
|
||||
|
||||
var contactSolver = this.findContactSolver(shape1, shape2);
|
||||
// Result stored in this._contactSolver (see what we can do about generating some re-usable solvers)
|
||||
var contactSolver: ContactSolver = this.findContactSolver(this._shape1, this._shape2);
|
||||
|
||||
Manager.write('findContactSolver result: ' + contactSolver);
|
||||
|
||||
if (contactSolver)
|
||||
{
|
||||
contactSolver.update(contactArr);
|
||||
newContactSolverArr.push(contactSolver);
|
||||
this.contactSolvers.push(contactSolver);
|
||||
}
|
||||
else
|
||||
{
|
||||
Manager.write('awake both bodies');
|
||||
|
||||
body1.awake(true);
|
||||
body2.awake(true);
|
||||
this.bodies[body1Index].awake(true);
|
||||
this.bodies[body2Index].awake(true);
|
||||
|
||||
var newContactSolver = new ContactSolver(shape1, shape2);
|
||||
var newContactSolver = new ContactSolver(this._shape1, this._shape2);
|
||||
newContactSolver.contacts = contactArr;
|
||||
newContactSolver.elasticity = Math.max(shape1.elasticity, shape2.elasticity);
|
||||
newContactSolver.friction = Math.sqrt(shape1.friction * shape2.friction);
|
||||
newContactSolverArr.push(newContactSolver);
|
||||
newContactSolver.elasticity = Math.max(this._shape1.elasticity, this._shape2.elasticity);
|
||||
newContactSolver.friction = Math.sqrt(this._shape1.friction * this._shape2.friction);
|
||||
|
||||
this.contactSolvers.push(newContactSolver);
|
||||
Manager.write('new contact solver');
|
||||
//console.log(newContactSolver);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return newContactSolverArr;
|
||||
this._cl = this.contactSolvers.length;
|
||||
|
||||
}
|
||||
|
||||
public initSolver(dt, dt_inv, warmStarting) {
|
||||
private initSolver(warmStarting) {
|
||||
|
||||
Manager.write('initSolver');
|
||||
Manager.write('contactSolvers.length: ' + this.contactSolvers.length);
|
||||
|
||||
//var t0 = Date.now();
|
||||
Manager.write('contactSolvers.length: ' + this._cl);
|
||||
|
||||
// Initialize contact solvers
|
||||
for (var i = 0; i < this.contactSolvers.length; i++)
|
||||
for (var c = 0; c < this._cl; c++)
|
||||
{
|
||||
this.contactSolvers[i].initSolver(dt_inv);
|
||||
this.contactSolvers[c].initSolver(this._deltaInv);
|
||||
|
||||
// Warm starting (apply cached impulse)
|
||||
if (warmStarting)
|
||||
{
|
||||
this.contactSolvers[c].warmStart();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Initialize joint solver
|
||||
for (var i = 0; i < this.jointArr.length; i++)
|
||||
for (var j = 0; j < this.joints.length; j++)
|
||||
{
|
||||
if (this.jointArr[i])
|
||||
if (this.joints[j])
|
||||
{
|
||||
this.jointArr[i].initSolver(dt, warmStarting);
|
||||
this.joints[j].initSolver(this._delta, warmStarting);
|
||||
}
|
||||
}
|
||||
|
||||
// Warm starting (apply cached impulse)
|
||||
/*
|
||||
if (warmStarting)
|
||||
{
|
||||
for (var i = 0; i < this.contactSolvers.length; i++)
|
||||
for (var c = 0; c < this._cl; c++)
|
||||
{
|
||||
this.contactSolvers[i].warmStart();
|
||||
this.contactSolvers[c].warmStart();
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
//stats.timeInitSolver = Date.now() - t0;
|
||||
}
|
||||
|
||||
public velocitySolver(iteration) {
|
||||
private velocitySolver(iterations:number) {
|
||||
|
||||
Manager.write('velocitySolver, iterations: ' + iteration + ' csa len: ' + this.contactSolvers.length);
|
||||
Manager.write('velocitySolver, iterations: ' + iterations + ' csa len: ' + this._cl);
|
||||
|
||||
//var t0 = Date.now();
|
||||
|
||||
for (var i = 0; i < iteration; i++)
|
||||
for (var i = 0; i < iterations; i++)
|
||||
{
|
||||
for (var j = 0; j < this.jointArr.length; j++)
|
||||
for (var j = 0; j < this._jl; j++)
|
||||
{
|
||||
if (this.jointArr[j])
|
||||
if (this.joints[j])
|
||||
{
|
||||
this.jointArr[j].solveVelocityConstraints();
|
||||
this.joints[j].solveVelocityConstraints();
|
||||
}
|
||||
}
|
||||
|
||||
for (var j = 0; j < this.contactSolvers.length; j++)
|
||||
for (var c = 0; c < this._cl; c++)
|
||||
{
|
||||
this.contactSolvers[j].solveVelocityConstraints();
|
||||
this.contactSolvers[c].solveVelocityConstraints();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public positionSolver(iteration) {
|
||||
private positionSolver(iterations:number):bool {
|
||||
|
||||
var positionSolved = false;
|
||||
this._positionSolved = false;
|
||||
|
||||
for (var i = 0; i < iteration; i++)
|
||||
for (var i = 0; i < iterations; i++)
|
||||
{
|
||||
var contactsOk = true;
|
||||
var jointsOk = true;
|
||||
this._contactsOk = true;
|
||||
this._jointsOk = true;
|
||||
|
||||
for (var j = 0; j < this.contactSolvers.length; j++)
|
||||
for (var c = 0; c < this._cl; c++)
|
||||
{
|
||||
var contactOk = this.contactSolvers[j].solvePositionConstraints();
|
||||
contactsOk = contactOk && contactsOk;
|
||||
this._contactsOk = this.contactSolvers[c].solvePositionConstraints() && this._contactsOk;
|
||||
}
|
||||
|
||||
for (var j = 0; j < this.jointArr.length; j++)
|
||||
for (var j = 0; j < this._jl; j++)
|
||||
{
|
||||
if (this.jointArr[j])
|
||||
if (this.joints[j])
|
||||
{
|
||||
var jointOk = this.jointArr[j].solvePositionConstraints();
|
||||
jointsOk = jointOk && jointsOk;
|
||||
this._jointsOk = this.joints[j].solvePositionConstraints() && this._jointsOk;
|
||||
}
|
||||
}
|
||||
|
||||
if (contactsOk && jointsOk)
|
||||
if (this._contactsOk && this._jointsOk)
|
||||
{
|
||||
// exit early if the position errors are small
|
||||
positionSolved = true;
|
||||
this._positionSolved = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return positionSolved;
|
||||
return this._positionSolved;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
public step(dt, vel_iteration, pos_iteration, warmStarting, allowSleep) {
|
||||
// Step through the physics simulation
|
||||
public step(dt: number, velocityIterations: number, positionIterations: number, warmStarting: bool, allowSleep: bool) {
|
||||
|
||||
Manager.clear();
|
||||
Manager.write('Space step ' + this.stepCount);
|
||||
|
||||
var dt_inv: number = 1 / dt;
|
||||
var bl: number = this.bodyArr.length;
|
||||
var jl: number = this.jointArr.length;
|
||||
this._delta = dt;
|
||||
this._deltaInv = 1 / dt;
|
||||
this._bl = this.bodies.length;
|
||||
this._jl = this.joints.length;
|
||||
|
||||
this.stepCount++;
|
||||
|
||||
// 1) Generate Contact Solvers
|
||||
this.contactSolvers = this.genTemporalContactSolvers();
|
||||
// 1) Generate Contact Solvers (into the this.contactSolvers array)
|
||||
this.genTemporalContactSolvers();
|
||||
|
||||
Manager.dump("Contact Solvers", this.bodyArr[1]);
|
||||
Manager.dump("Contact Solvers", this.bodies[1]);
|
||||
|
||||
// 2) Initialize the Contact Solvers
|
||||
this.initSolver(dt, dt_inv, warmStarting);
|
||||
this.initSolver(warmStarting);
|
||||
|
||||
Manager.dump("Init Solver", this.bodyArr[1]);
|
||||
Manager.dump("Init Solver", this.bodies[1]);
|
||||
|
||||
// 3) Intergrate velocity
|
||||
for (var i = 0; i < bl; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
|
||||
if (this.bodies[i] && this.bodies[i].isDynamic && this.bodies[i].isAwake)
|
||||
{
|
||||
this.bodyArr[i].updateVelocity(this.gravity, dt, this.damping);
|
||||
this.bodies[i].updateVelocity(this.gravity, this._delta, this.damping);
|
||||
}
|
||||
}
|
||||
|
||||
Manager.dump("Update Velocity", this.bodyArr[1]);
|
||||
Manager.dump("Update Velocity", this.bodies[1]);
|
||||
|
||||
/*
|
||||
// 4) Awaken bodies
|
||||
for (var j = 0; i < jl; j++)
|
||||
// 4) Awaken bodies via joints
|
||||
for (var j = 0; i < this._jl; j++)
|
||||
{
|
||||
var joint = this.jointArr[j];
|
||||
|
||||
if (!joint)
|
||||
if (!this.joints[j])
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var body1 = joint.body1;
|
||||
var body2 = joint.body2;
|
||||
|
||||
var awake1 = body1.isAwake && !body1.isStatic;
|
||||
var awake2 = body2.isAwake && !body2.isStatic;
|
||||
// combine
|
||||
var awake1 = this.joints[j].body1.isAwake && !this.joints[j].body1.isStatic;
|
||||
var awake2 = this.joints[j].body2.isAwake && !this.joints[j].body2.isStatic;
|
||||
|
||||
if (awake1 ^ awake2)
|
||||
{
|
||||
if (!awake1)
|
||||
{
|
||||
body1.awake(true);
|
||||
this.joints[j].body1.awake(true);
|
||||
}
|
||||
|
||||
|
||||
if (!awake2)
|
||||
{
|
||||
body2.awake(true);
|
||||
this.joints[j].body2.awake(true);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
// 5) Iterative velocity constraints solver
|
||||
this.velocitySolver(vel_iteration);
|
||||
this.velocitySolver(velocityIterations);
|
||||
|
||||
Manager.dump("Velocity Solvers", this.bodyArr[1]);
|
||||
Manager.dump("Velocity Solvers", this.bodies[1]);
|
||||
|
||||
// 6) Intergrate position
|
||||
for (var i = 0; i < bl; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
|
||||
if (this.bodies[i] && this.bodies[i].isDynamic && this.bodies[i].isAwake)
|
||||
{
|
||||
this.bodyArr[i].updatePosition(dt);
|
||||
this.bodies[i].updatePosition(this._delta);
|
||||
}
|
||||
}
|
||||
|
||||
Manager.dump("Update Position", this.bodyArr[1]);
|
||||
Manager.dump("Update Position", this.bodies[1]);
|
||||
|
||||
// 7) Process breakable joint
|
||||
for (var i = 0; i < jl; i++)
|
||||
for (var i = 0; i < this._jl; i++)
|
||||
{
|
||||
if (this.jointArr[i] && this.jointArr[i].breakable && (this.jointArr[i].getReactionForce(dt_inv).lengthSq() >= this.jointArr[i].maxForce * this.jointArr[i].maxForce))
|
||||
if (this.joints[i] && this.joints[i].breakable && (this.joints[i].getReactionForce(this._deltaInv).lengthSq() >= this.joints[i].maxForce * this.joints[i].maxForce))
|
||||
{
|
||||
this.removeJoint(this.jointArr[i]);
|
||||
this.removeJoint(this.joints[i]);
|
||||
}
|
||||
}
|
||||
|
||||
// 8) Iterative position constraints solver
|
||||
var positionSolved = this.positionSolver(pos_iteration);
|
||||
// 8) Iterative position constraints solver (result stored in this._positionSolved)
|
||||
this.positionSolver(positionIterations);
|
||||
|
||||
Manager.dump("Position Solver", this.bodyArr[1]);
|
||||
Manager.dump("Position Solver", this.bodies[1]);
|
||||
|
||||
// 9) Sync the Transforms
|
||||
for (var i = 0; i < bl; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
if (this.bodyArr[i])
|
||||
if (this.bodies[i])
|
||||
{
|
||||
this.bodyArr[i].syncTransform();
|
||||
this.bodies[i].syncTransform();
|
||||
}
|
||||
}
|
||||
|
||||
Manager.dump("Sync Transform", this.bodyArr[1]);
|
||||
Manager.dump("Sync Transform", this.bodies[1]);
|
||||
|
||||
// 10) Post solve collision callback
|
||||
for (var i = 0; i < this.contactSolvers.length; i++)
|
||||
if (this.postSolve)
|
||||
{
|
||||
var arb = this.contactSolvers[i];
|
||||
// Re-enable this
|
||||
//this.postSolve(arb);
|
||||
for (var i = 0; i < this._cl; i++)
|
||||
{
|
||||
this.postSolve(this.contactSolvers[i]);
|
||||
}
|
||||
}
|
||||
|
||||
// 11) Cache Body Data
|
||||
for (var i = 0; i < bl; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
|
||||
if (this.bodies[i] && this.bodies[i].isDynamic && this.bodies[i].isAwake)
|
||||
{
|
||||
this.bodyArr[i].cacheData('post solve collision callback');
|
||||
this.bodies[i].cacheData('post solve collision callback');
|
||||
}
|
||||
}
|
||||
|
||||
Manager.dump("Cache Data", this.bodyArr[1]);
|
||||
Manager.dump("Cache Data", this.bodies[1]);
|
||||
|
||||
Manager.writeAll();
|
||||
|
||||
// 12) Process sleeping
|
||||
/*
|
||||
if (allowSleep)
|
||||
{
|
||||
var minSleepTime = 999999;
|
||||
this._minSleepTime = 999999;
|
||||
|
||||
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
|
||||
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
|
||||
|
||||
for (var i = 0; i < bl; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
var body = this.bodyArr[i];
|
||||
|
||||
if (!this.bodyArr[i] || this.bodyArr[i].isDynamic == false)
|
||||
if (!this.bodies[i] || this.bodies[i].isDynamic == false)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (body.angularVelocity * body.angularVelocity > angTolSqr || body.velocity.dot(body.velocity) > linTolSqr)
|
||||
if (this.bodies[i].angularVelocity * this.bodies[i].angularVelocity > this._angTolSqr || this.bodies[i].velocity.dot(this.bodies[i].velocity) > this._linTolSqr)
|
||||
{
|
||||
body.sleepTime = 0;
|
||||
minSleepTime = 0;
|
||||
this.bodies[i].sleepTime = 0;
|
||||
this._minSleepTime = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
body.sleepTime += dt;
|
||||
minSleepTime = Math.min(minSleepTime, body.sleepTime);
|
||||
this.bodies[i].sleepTime += this._delta;
|
||||
this._minSleepTime = Math.min(this._minSleepTime, this.bodies[i].sleepTime);
|
||||
}
|
||||
}
|
||||
|
||||
if (positionSolved && minSleepTime >= Space.TIME_TO_SLEEP)
|
||||
if (this._positionSolved && this._minSleepTime >= Space.TIME_TO_SLEEP)
|
||||
{
|
||||
for (var i = 0; i < this.bodyArr.length; i++)
|
||||
for (var i = 0; i < this._bl; i++)
|
||||
{
|
||||
var body = this.bodyArr[i];
|
||||
|
||||
if (!body)
|
||||
if (this.bodies[i])
|
||||
{
|
||||
continue;
|
||||
this.bodies[i].awake(false);
|
||||
}
|
||||
|
||||
body.awake(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user