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skip presolve when impulse 0

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liabru 2015-05-03 13:32:53 +01:00
parent ccbb98b8d0
commit 296059cba2
1 changed files with 19 additions and 17 deletions
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36
src/collision/Resolver.js
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@ -186,24 +186,26 @@ var Resolver = {};
contactVertex = contact.vertex;
normalImpulse = contact.normalImpulse;
tangentImpulse = contact.tangentImpulse;
// total impulse from contact
impulse.x = (normal.x * normalImpulse) + (tangent.x * tangentImpulse);
impulse.y = (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;
}
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;
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);
// 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;
}
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;
}
}
}
}