mirror of
https://github.com/wassname/phaser.git
synced 2026-08-14 12:40:17 +08:00
Sorted out the bounds for when sprites are in trimmed texture atlases to stop the physics checks going insane. Also bundled in Advanced Physics lib, although not hooked up yet.
This commit is contained in:
Richard Davey
@@ -0,0 +1,267 @@
|
||||
/*
|
||||
* Copyright (c) 2012 Ju Hyung Lee
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
|
||||
* and associated documentation files (the "Software"), to deal in the Software without
|
||||
* restriction, including without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
|
||||
* Software is furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all copies or
|
||||
* substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
|
||||
* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
|
||||
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*/
|
||||
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
// Contact Constraint
|
||||
//
|
||||
// Non-penetration constraint:
|
||||
// C = dot(p2 - p1, n)
|
||||
// Cdot = dot(v2 - v1, n)
|
||||
// J = [ -n, -cross(r1, n), n, cross(r2, n) ]
|
||||
//
|
||||
// impulse = JT * lambda = [ -n * lambda, -cross(r1, n) * lambda, n * lambda, cross(r1, n) * lambda ]
|
||||
//
|
||||
// Friction constraint:
|
||||
// C = dot(p2 - p1, t)
|
||||
// Cdot = dot(v2 - v1, t)
|
||||
// J = [ -t, -cross(r1, t), t, cross(r2, t) ]
|
||||
//
|
||||
// impulse = JT * lambda = [ -t * lambda, -cross(r1, t) * lambda, t * lambda, cross(r1, t) * lambda ]
|
||||
//
|
||||
// NOTE: lambda is an impulse in constraint space.
|
||||
//-------------------------------------------------------------------------------------------------
|
||||
|
||||
function ContactSolver(shape1, shape2) {
|
||||
// Contact shapes
|
||||
this.shape1 = shape1;
|
||||
this.shape2 = shape2;
|
||||
|
||||
// Contact list
|
||||
this.contactArr = [];
|
||||
|
||||
// Coefficient of restitution (elasticity)
|
||||
this.e = 1;
|
||||
|
||||
// Frictional coefficient
|
||||
this.u = 1;
|
||||
}
|
||||
|
||||
ContactSolver.COLLISION_SLOP = 0.0008;
|
||||
ContactSolver.BAUMGARTE = 0.28;
|
||||
ContactSolver.MAX_LINEAR_CORRECTION = 1;//Infinity;
|
||||
|
||||
ContactSolver.prototype.update = function(newContactArr) {
|
||||
for (var i = 0; i < newContactArr.length; i++) {
|
||||
var newContact = newContactArr[i];
|
||||
var k = -1;
|
||||
for (var j = 0; j < this.contactArr.length; j++) {
|
||||
if (newContact.hash == this.contactArr[j].hash) {
|
||||
k = j;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (k > -1) {
|
||||
newContact.lambda_n_acc = this.contactArr[k].lambda_n_acc;
|
||||
newContact.lambda_t_acc = this.contactArr[k].lambda_t_acc;
|
||||
}
|
||||
}
|
||||
|
||||
this.contactArr = newContactArr;
|
||||
}
|
||||
|
||||
ContactSolver.prototype.initSolver = function(dt_inv) {
|
||||
var body1 = this.shape1.body;
|
||||
var body2 = this.shape2.body;
|
||||
|
||||
var sum_m_inv = body1.m_inv + body2.m_inv;
|
||||
|
||||
for (var i = 0; i < this.contactArr.length; i++) {
|
||||
var con = this.contactArr[i];
|
||||
|
||||
// Transformed r1, r2
|
||||
con.r1 = vec2.sub(con.p, body1.p);
|
||||
con.r2 = vec2.sub(con.p, body2.p);
|
||||
|
||||
// Local r1, r2
|
||||
con.r1_local = body1.xf.unrotate(con.r1);
|
||||
con.r2_local = body2.xf.unrotate(con.r2);
|
||||
|
||||
var n = con.n;
|
||||
var t = vec2.perp(con.n);
|
||||
|
||||
// invEMn = J * invM * JT
|
||||
// J = [ -n, -cross(r1, n), n, cross(r2, n) ]
|
||||
var sn1 = vec2.cross(con.r1, n);
|
||||
var sn2 = vec2.cross(con.r2, n);
|
||||
var emn_inv = sum_m_inv + body1.i_inv * sn1 * sn1 + body2.i_inv * sn2 * sn2;
|
||||
con.emn = emn_inv == 0 ? 0 : 1 / emn_inv;
|
||||
|
||||
// invEMt = J * invM * JT
|
||||
// J = [ -t, -cross(r1, t), t, cross(r2, t) ]
|
||||
var st1 = vec2.cross(con.r1, t);
|
||||
var st2 = vec2.cross(con.r2, t);
|
||||
var emt_inv = sum_m_inv + body1.i_inv * st1 * st1 + body2.i_inv * st2 * st2;
|
||||
con.emt = emt_inv == 0 ? 0 : 1 / emt_inv;
|
||||
|
||||
// Linear velocities at contact point
|
||||
// in 2D: cross(w, r) = perp(r) * w
|
||||
var v1 = vec2.mad(body1.v, vec2.perp(con.r1), body1.w);
|
||||
var v2 = vec2.mad(body2.v, vec2.perp(con.r2), body2.w);
|
||||
|
||||
// relative velocity at contact point
|
||||
var rv = vec2.sub(v2, v1);
|
||||
|
||||
// bounce velocity dot n
|
||||
con.bounce = vec2.dot(rv, con.n) * this.e;
|
||||
}
|
||||
}
|
||||
|
||||
ContactSolver.prototype.warmStart = function() {
|
||||
|
||||
var body1 = this.shape1.body;
|
||||
var body2 = this.shape2.body;
|
||||
|
||||
for (var i = 0; i < this.contactArr.length; i++) {
|
||||
var con = this.contactArr[i];
|
||||
var n = con.n;
|
||||
var lambda_n = con.lambda_n_acc;
|
||||
var lambda_t = con.lambda_t_acc;
|
||||
|
||||
// Apply accumulated impulses
|
||||
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
|
||||
var impulse = new vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
|
||||
|
||||
body1.v.mad(impulse, -body1.m_inv);
|
||||
body1.w -= vec2.cross(con.r1, impulse) * body1.i_inv;
|
||||
|
||||
body2.v.mad(impulse, body2.m_inv);
|
||||
body2.w += vec2.cross(con.r2, impulse) * body2.i_inv;
|
||||
}
|
||||
}
|
||||
|
||||
ContactSolver.prototype.solveVelocityConstraints = function() {
|
||||
|
||||
var body1 = this.shape1.body;
|
||||
var body2 = this.shape2.body;
|
||||
|
||||
var m1_inv = body1.m_inv;
|
||||
var i1_inv = body1.i_inv;
|
||||
var m2_inv = body2.m_inv;
|
||||
var i2_inv = body2.i_inv;
|
||||
|
||||
for (var i = 0; i < this.contactArr.length; i++) {
|
||||
|
||||
var con = this.contactArr[i];
|
||||
var n = con.n;
|
||||
var t = vec2.perp(n);
|
||||
var r1 = con.r1;
|
||||
var r2 = con.r2;
|
||||
|
||||
// Linear velocities at contact point
|
||||
// in 2D: cross(w, r) = perp(r) * w
|
||||
var v1 = vec2.mad(body1.v, vec2.perp(r1), body1.w);
|
||||
var v2 = vec2.mad(body2.v, vec2.perp(r2), body2.w);
|
||||
|
||||
// Relative velocity at contact point
|
||||
var rv = vec2.sub(v2, v1);
|
||||
|
||||
// Compute normal constraint impulse + adding bounce as a velocity bias
|
||||
// lambda_n = -EMn * J * V
|
||||
var lambda_n = -con.emn * (vec2.dot(n, rv) + con.bounce);
|
||||
|
||||
// Accumulate and clamp
|
||||
var lambda_n_old = con.lambda_n_acc;
|
||||
con.lambda_n_acc = Math.max(lambda_n_old + lambda_n, 0);
|
||||
lambda_n = con.lambda_n_acc - lambda_n_old;
|
||||
|
||||
// Compute frictional constraint impulse
|
||||
// lambda_t = -EMt * J * V
|
||||
var lambda_t = -con.emt * vec2.dot(t, rv);
|
||||
|
||||
// Max friction constraint impulse (Coulomb's Law)
|
||||
var lambda_t_max = con.lambda_n_acc * this.u;
|
||||
|
||||
// Accumulate and clamp
|
||||
var lambda_t_old = con.lambda_t_acc;
|
||||
con.lambda_t_acc = Math.clamp(lambda_t_old + lambda_t, -lambda_t_max, lambda_t_max);
|
||||
lambda_t = con.lambda_t_acc - lambda_t_old;
|
||||
|
||||
// Apply the final impulses
|
||||
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
|
||||
var impulse = new vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
|
||||
|
||||
body1.v.mad(impulse, -m1_inv);
|
||||
body1.w -= vec2.cross(r1, impulse) * i1_inv;
|
||||
|
||||
body2.v.mad(impulse, m2_inv);
|
||||
body2.w += vec2.cross(r2, impulse) * i2_inv;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ContactSolver.prototype.solvePositionConstraints = function() {
|
||||
|
||||
var body1 = this.shape1.body;
|
||||
var body2 = this.shape2.body;
|
||||
|
||||
var m1_inv = body1.m_inv;
|
||||
var i1_inv = body1.i_inv;
|
||||
var m2_inv = body2.m_inv;
|
||||
var i2_inv = body2.i_inv;
|
||||
var sum_m_inv = m1_inv + m2_inv;
|
||||
|
||||
var max_penetration = 0;
|
||||
|
||||
for (var i = 0; i < this.contactArr.length; i++) {
|
||||
|
||||
var con = this.contactArr[i];
|
||||
var n = con.n;
|
||||
|
||||
// Transformed r1, r2
|
||||
var r1 = vec2.rotate(con.r1_local, body1.a);
|
||||
var r2 = vec2.rotate(con.r2_local, body2.a);
|
||||
|
||||
// Contact points (corrected)
|
||||
var p1 = vec2.add(body1.p, r1);
|
||||
var p2 = vec2.add(body2.p, r2);
|
||||
|
||||
// Corrected delta vector
|
||||
var dp = vec2.sub(p2, p1);
|
||||
|
||||
// Position constraint
|
||||
var c = vec2.dot(dp, n) + con.d;
|
||||
var correction = Math.clamp(ContactSolver.BAUMGARTE * (c + ContactSolver.COLLISION_SLOP), -ContactSolver.MAX_LINEAR_CORRECTION, 0);
|
||||
|
||||
if (correction == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// We don't need max_penetration less than or equal slop
|
||||
max_penetration = Math.max(max_penetration, -c);
|
||||
|
||||
// Compute lambda for position constraint
|
||||
// Solve (J * invM * JT) * lambda = -C / dt
|
||||
var sn1 = vec2.cross(r1, n);
|
||||
var sn2 = vec2.cross(r2, n);
|
||||
var em_inv = sum_m_inv + body1.i_inv * sn1 * sn1 + body2.i_inv * sn2 * sn2;
|
||||
var lambda_dt = em_inv == 0 ? 0 : -correction / em_inv;
|
||||
|
||||
// Apply correction impulses
|
||||
var impulse_dt = vec2.scale(n, lambda_dt);
|
||||
|
||||
body1.p.mad(impulse_dt, -m1_inv);
|
||||
body1.a -= sn1 * lambda_dt * i1_inv;
|
||||
|
||||
body2.p.mad(impulse_dt, m2_inv);
|
||||
body2.a += sn2 * lambda_dt * i2_inv;
|
||||
}
|
||||
|
||||
return max_penetration <= ContactSolver.COLLISION_SLOP * 3;
|
||||
}
|
||||
Reference in New Issue
Block a user