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optimised Resolver.preSolveVelocity

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liabru 2021-05-01 14:16:11 +01:00
parent fceb0cab68
commit 0b07a31944
1 changed files with 35 additions and 45 deletions
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80
src/collision/Resolver.js
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@ -9,8 +9,6 @@ var Resolver = {};
module.exports = Resolver;
var Vertices = require('../geometry/Vertices');
var Vector = require('../geometry/Vector');
var Common = require('../core/Common');
var Bounds = require('../geometry/Bounds');
(function() {
@ -169,61 +167,53 @@ var Bounds = require('../geometry/Bounds');
* @param {pair[]} pairs
*/
Resolver.preSolveVelocity = function(pairs) {
var i,
j,
pair,
contacts,
collision,
bodyA,
bodyB,
normal,
tangent,
contact,
contactVertex,
normalImpulse,
tangentImpulse,
offset,
impulse = Vector._temp[0],
tempA = Vector._temp[1];
var pairsLength = pairs.length,
i,
j;
for (i = 0; i < pairs.length; i++) {
pair = pairs[i];
for (i = 0; i < pairsLength; i++) {
var pair = pairs[i];
if (!pair.isActive || pair.isSensor)
continue;
contacts = pair.activeContacts;
collision = pair.collision;
bodyA = collision.parentA;
bodyB = collision.parentB;
normal = collision.normal;
tangent = collision.tangent;
var contacts = pair.activeContacts,
contactsLength = contacts.length,
collision = pair.collision,
bodyA = collision.parentA,
bodyB = collision.parentB,
normal = collision.normal,
tangent = collision.tangent;
// resolve each contact
for (j = 0; j < contacts.length; j++) {
contact = contacts[j];
contactVertex = contact.vertex;
normalImpulse = contact.normalImpulse;
tangentImpulse = contact.tangentImpulse;
for (j = 0; j < contactsLength; j++) {
var contact = contacts[j],
contactVertex = contact.vertex,
normalImpulse = contact.normalImpulse,
tangentImpulse = contact.tangentImpulse;
if (normalImpulse !== 0 || tangentImpulse !== 0) {
// total impulse from contact
impulse.x = (normal.x * normalImpulse) + (tangent.x * tangentImpulse);
impulse.y = (normal.y * normalImpulse) + (tangent.y * tangentImpulse);
var impulseX = normal.x * normalImpulse + tangent.x * tangentImpulse,
impulseY = normal.y * normalImpulse + tangent.y * tangentImpulse;
// apply impulse from contact
if (!(bodyA.isStatic || bodyA.isSleeping)) {
offset = Vector.sub(contactVertex, bodyA.position, tempA);
bodyA.positionPrev.x += impulse.x * bodyA.inverseMass;
bodyA.positionPrev.y += impulse.y * bodyA.inverseMass;
bodyA.anglePrev += Vector.cross(offset, impulse) * bodyA.inverseInertia;
bodyA.positionPrev.x += impulseX * bodyA.inverseMass;
bodyA.positionPrev.y += impulseY * bodyA.inverseMass;
bodyA.anglePrev += bodyA.inverseInertia * (
(contactVertex.x - bodyA.position.x) * impulseY
- (contactVertex.y - bodyA.position.y) * impulseX
);
}
if (!(bodyB.isStatic || bodyB.isSleeping)) {
offset = Vector.sub(contactVertex, bodyB.position, tempA);
bodyB.positionPrev.x -= impulse.x * bodyB.inverseMass;
bodyB.positionPrev.y -= impulse.y * bodyB.inverseMass;
bodyB.anglePrev -= Vector.cross(offset, impulse) * bodyB.inverseInertia;
bodyB.positionPrev.x -= impulseX * bodyB.inverseMass;
bodyB.positionPrev.y -= impulseY * bodyB.inverseMass;
bodyB.anglePrev -= bodyB.inverseInertia * (
(contactVertex.x - bodyB.position.x) * impulseY
- (contactVertex.y - bodyB.position.y) * impulseX
);
}
}
}
@ -281,7 +271,7 @@ var Bounds = require('../geometry/Bounds');
var tangentVelocity = Vector.dot(tangent, relativeVelocity),
tangentSpeed = Math.abs(tangentVelocity),
tangentVelocityDirection = Common.sign(tangentVelocity);
// raw impulses
var normalImpulse = (1 + pair.restitution) * normalVelocity,
normalForce = Common.clamp(pair.separation + normalVelocity, 0, 1) * Resolver._frictionNormalMultiplier;