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optimised Resolver.solveVelocity

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liabru 2023-07-23 13:50:26 +01:00
parent 97d502ea97
commit 182ba905d4
1 changed files with 14 additions and 16 deletions
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30
src/collision/Resolver.js
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@ -248,25 +248,23 @@ var Bounds = require('../geometry/Bounds');
var collision = pair.collision,
bodyA = collision.parentA,
bodyB = collision.parentB,
bodyAVelocity = bodyA.velocity,
bodyBVelocity = bodyB.velocity,
normalX = collision.normal.x,
normalY = collision.normal.y,
tangentX = collision.tangent.x,
tangentY = collision.tangent.y,
inverseMassTotal = pair.inverseMass,
friction = pair.friction * pair.frictionStatic * frictionNormalMultiplier,
contacts = pair.contacts,
contactCount = pair.contactCount,
contactShare = 1 / contactCount,
inverseMassTotal = bodyA.inverseMass + bodyB.inverseMass,
friction = pair.friction * pair.frictionStatic * frictionNormalMultiplier;
contactShare = 1 / contactCount;
// update body velocities
bodyAVelocity.x = bodyA.position.x - bodyA.positionPrev.x;
bodyAVelocity.y = bodyA.position.y - bodyA.positionPrev.y;
bodyBVelocity.x = bodyB.position.x - bodyB.positionPrev.x;
bodyBVelocity.y = bodyB.position.y - bodyB.positionPrev.y;
bodyA.angularVelocity = bodyA.angle - bodyA.anglePrev;
bodyB.angularVelocity = bodyB.angle - bodyB.anglePrev;
// get body velocities
var bodyAVelocityX = bodyA.position.x - bodyA.positionPrev.x,
bodyAVelocityY = bodyA.position.y - bodyA.positionPrev.y,
bodyAAngularVelocity = bodyA.angle - bodyA.anglePrev,
bodyBVelocityX = bodyB.position.x - bodyB.positionPrev.x,
bodyBVelocityY = bodyB.position.y - bodyB.positionPrev.y,
bodyBAngularVelocity = bodyB.angle - bodyB.anglePrev;
// resolve each contact
for (j = 0; j < contactCount; j++) {
@ -278,10 +276,10 @@ var Bounds = require('../geometry/Bounds');
offsetBX = contactVertex.x - bodyB.position.x,
offsetBY = contactVertex.y - bodyB.position.y;
var velocityPointAX = bodyAVelocity.x - offsetAY * bodyA.angularVelocity,
velocityPointAY = bodyAVelocity.y + offsetAX * bodyA.angularVelocity,
velocityPointBX = bodyBVelocity.x - offsetBY * bodyB.angularVelocity,
velocityPointBY = bodyBVelocity.y + offsetBX * bodyB.angularVelocity;
var velocityPointAX = bodyAVelocityX - offsetAY * bodyAAngularVelocity,
velocityPointAY = bodyAVelocityY + offsetAX * bodyAAngularVelocity,
velocityPointBX = bodyBVelocityX - offsetBY * bodyBAngularVelocity,
velocityPointBY = bodyBVelocityY + offsetBX * bodyBAngularVelocity;
var relativeVelocityX = velocityPointAX - velocityPointBX,
relativeVelocityY = velocityPointAY - velocityPointBY;