removed collision.supportCorrected instead using bodyB.position, added render.options.showSeparations

src/collision/Resolver.js

@@ -24,13 +24,12 @@ var Resolver = {};
             collision,
             bodyA,
             bodyB,
-            vertex,
-            vertexCorrected,
             normal,
             bodyBtoA,
             tempA = Vector._temp[0],
             tempB = Vector._temp[1],
-            tempC = Vector._temp[2];
+            tempC = Vector._temp[2],
+            tempD = Vector._temp[3];
 
         // find impulses required to resolve penetration
         for (i = 0; i < pairs.length; i++) {
@@ -42,14 +41,12 @@ var Resolver = {};
             collision = pair.collision;
             bodyA = collision.parentA;
             bodyB = collision.parentB;
-            vertex = collision.supports[0];
-            vertexCorrected = collision.supportCorrected;
             normal = collision.normal;
 
-
             // get current separation between body edges involved in collision
-            bodyBtoA = Vector.sub(Vector.add(bodyB.positionImpulse, vertex, tempA), 
+            bodyBtoA = Vector.sub(Vector.add(bodyB.positionImpulse, bodyB.position, tempA), 
-                                    Vector.add(bodyA.positionImpulse, vertexCorrected, tempB), tempC);
+                                    Vector.add(bodyA.positionImpulse, 
+                                        Vector.sub(bodyB.position, collision.penetration, tempB), tempC), tempD);
 
             pair.separation = Vector.dot(normal, bodyBtoA);
         }

src/collision/SAT.js

@@ -136,7 +136,6 @@ var SAT = {};
             supports = [verticesB[0]];
         
         collision.supports = supports;
-        collision.supportCorrected = Vector.sub(supports[0], collision.penetration);
 
         return collision;
     };

src/render/Render.js

@@ -42,6 +42,7 @@ var Render = {};
                 showBounds: false,
                 showVelocity: false,
                 showCollisions: false,
+                showSeparations: false,
                 showAxes: false,
                 showPositions: false,
                 showAngleIndicator: false,
@@ -202,6 +203,9 @@ var Render = {};
         if (options.showIds)
             Render.bodyIds(engine, bodies, context);
 
+        if (options.showSeparations)
+            Render.separations(engine, engine.pairs.list, context);
+
         if (options.showCollisions)
             Render.collisions(engine, engine.pairs.list, context);
 
@@ -782,6 +786,8 @@ var Render = {};
             pair,
             collision,
             corrected,
+            bodyA,
+            bodyB,
             i,
             j;
 
@@ -809,32 +815,6 @@ var Render = {};
         }
         c.fill();
 
-        c.beginPath();
-
-        // render corrected positions
-        for (i = 0; i < pairs.length; i++) {
-            pair = pairs[i];
-
-            if (!pair.isActive)
-                continue;
-
-            collision = pair.collision;
-            corrected = collision.supportCorrected;
-
-            if (collision.bodyB === collision.supports[0].body) {
-                c.rect(collision.supportCorrected.x - 1.5, collision.supportCorrected.y - 1.5, 3.5, 3.5);
-            } else {
-                c.rect(collision.supportCorrected.x - 1.5 + (2 * collision.penetration.x), collision.supportCorrected.y - 1.5 + (2 * collision.penetration.y), 3.5, 3.5);
-            }
-        }
-
-        if (options.wireframes) {
-            c.strokeStyle = 'rgba(255,165,0,0.7)';
-        } else {
-            c.strokeStyle = 'orange';
-        }
-        c.stroke();
-
         c.beginPath();
             
         // render collision normals
@@ -875,6 +855,63 @@ var Render = {};
         c.stroke();
     };
 
+    /**
+     * Description
+     * @private
+     * @method separations
+     * @param {engine} engine
+     * @param {pair[]} pairs
+     * @param {RenderingContext} context
+     */
+    Render.separations = function(engine, pairs, context) {
+        var c = context,
+            options = engine.render.options,
+            pair,
+            collision,
+            corrected,
+            bodyA,
+            bodyB,
+            i,
+            j;
+
+        c.beginPath();
+
+        // render separations
+        for (i = 0; i < pairs.length; i++) {
+            pair = pairs[i];
+
+            if (!pair.isActive)
+                continue;
+
+            collision = pair.collision;
+            bodyA = collision.bodyA;
+            bodyB = collision.bodyB;
+
+            var k = 1;
+
+            if (!bodyB.isStatic && !bodyA.isStatic) k = 0.5;
+            if (bodyB.isStatic) k = 0;
+
+            c.moveTo(bodyB.position.x, bodyB.position.y);
+            c.lineTo(bodyB.position.x - collision.penetration.x * k, bodyB.position.y - collision.penetration.y * k);
+
+            k = 1;
+
+            if (!bodyB.isStatic && !bodyA.isStatic) k = 0.5;
+            if (bodyA.isStatic) k = 0;
+
+            c.moveTo(bodyA.position.x, bodyA.position.y);
+            c.lineTo(bodyA.position.x + collision.penetration.x * k, bodyA.position.y + collision.penetration.y * k);
+        }
+
+        if (options.wireframes) {
+            c.strokeStyle = 'rgba(255,165,0,0.5)';
+        } else {
+            c.strokeStyle = 'orange';
+        }
+        c.stroke();
+    };
+
     /**
      * Description
      * @private