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fixed constraint torque calculation

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liabru 2017-04-29 21:17:09 +01:00
parent daf26af006
commit 068fdc0f2a
1 changed files with 8 additions and 4 deletions
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12
src/constraint/Constraint.js
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@ -29,6 +29,7 @@ var Common = require('../core/Common');
/** /**
* Creates a new constraint. * Creates a new constraint.
* All properties have default values, and many are pre-calculated automatically based on other properties. * All properties have default values, and many are pre-calculated automatically based on other properties.
* To simulate a revolute constraint (or pin joint) set `length: 0` and `stiffness: 1`.
* See the properties section below for detailed information on what you can pass via the `options` object. * See the properties section below for detailed information on what you can pass via the `options` object.
* @method create * @method create
* @param {} options * @param {} options
@ -179,12 +180,13 @@ var Common = require('../core/Common');
relativeVelocity = Vector.sub(velocityPointB, velocityPointA), relativeVelocity = Vector.sub(velocityPointB, velocityPointA),
massTotal = (bodyA ? bodyA.inverseMass : 0) + (bodyB ? bodyB.inverseMass : 0), massTotal = (bodyA ? bodyA.inverseMass : 0) + (bodyB ? bodyB.inverseMass : 0),
inertiaTotal = (bodyA ? bodyA.inverseInertia : 0) + (bodyB ? bodyB.inverseInertia : 0), inertiaTotal = (bodyA ? bodyA.inverseInertia : 0) + (bodyB ? bodyB.inverseInertia : 0),
normalImpulse = Vector.dot(normal, relativeVelocity) / (massTotal + inertiaTotal), resistanceTotal = massTotal + inertiaTotal,
normalImpulse = Vector.dot(normal, relativeVelocity) / resistanceTotal,
normalVelocity, normalVelocity,
torque, torque,
share; share;
if (normalImpulse < 0) { if (normalImpulse < 0 && constraint.angularStiffness < 1) {
normalVelocity = { normalVelocity = {
x: normal.x * normalImpulse, x: normal.x * normalImpulse,
y: normal.y * normalImpulse y: normal.y * normalImpulse
@ -203,7 +205,8 @@ var Common = require('../core/Common');
bodyA.position.y -= force.y * share; bodyA.position.y -= force.y * share;
if (normalVelocity) { if (normalVelocity) {
torque = Vector.cross(pointA, normalVelocity) * bodyA.inverseInertia * (1 - constraint.angularStiffness); share = (bodyA.inverseInertia + bodyA.inverseMass) / resistanceTotal;
torque = Vector.cross(pointA, normalVelocity) * share * bodyA.inverseInertia * constraint.stiffness * (1 - constraint.angularStiffness);
bodyA.constraintImpulse.angle += torque; bodyA.constraintImpulse.angle += torque;
bodyA.angle += torque; bodyA.angle += torque;
} }
@ -221,7 +224,8 @@ var Common = require('../core/Common');
bodyB.position.y += force.y * share; bodyB.position.y += force.y * share;
if (normalVelocity) { if (normalVelocity) {
torque = Vector.cross(pointB, normalVelocity) * bodyB.inverseInertia * (1 - constraint.angularStiffness); share = (bodyB.inverseInertia + bodyB.inverseMass) / resistanceTotal;
torque = Vector.cross(pointB, normalVelocity) * share * bodyB.inverseInertia * constraint.stiffness * (1 - constraint.angularStiffness);
bodyB.constraintImpulse.angle -= torque; bodyB.constraintImpulse.angle -= torque;
bodyB.angle -= torque; bodyB.angle -= torque;
} }