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https://github.com/liabru/matter-js.git
synced 2024-12-25 13:39:06 -05:00
added broadphase to Matter.Detector
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liabru
parent
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commit
a6b5e7d849
2 changed files with 193 additions and 110 deletions
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@ -1,58 +1,106 @@
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/**
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* The `Matter.Detector` module contains methods for detecting collisions given a set of pairs.
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* The `Matter.Detector` module contains methods for efficiently detecting collisions between a list of bodies using a broadphase algorithm.
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*
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* @class Detector
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*/
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// TODO: speculative contacts
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var Detector = {};
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module.exports = Detector;
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var SAT = require('./SAT');
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var Pair = require('./Pair');
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var Common = require('../core/Common');
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var Collision = require('./Collision');
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(function() {
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/**
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* Finds all collisions given a list of pairs.
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* @method collisions
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* @param {pair[]} broadphasePairs
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* @param {engine} engine
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* @return {array} collisions
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* Creates a new collision detector.
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* @method create
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* @param {} options
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* @return {detector} A new collision detector
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*/
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Detector.collisions = function(broadphasePairs, engine) {
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Detector.create = function(options) {
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var defaults = {
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bodies: [],
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pairs: null
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};
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return Common.extend(defaults, options);
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};
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/**
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* Sets the list of bodies in the detector.
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* @method setBodies
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* @param {detector} detector
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* @param {body[]} bodies
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*/
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Detector.setBodies = function(detector, bodies) {
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detector.bodies = bodies.slice(0);
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};
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/**
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* Clears the detector including its list of bodies.
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* @method clear
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* @param {detector} detector
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*/
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Detector.clear = function(detector) {
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detector.bodies = [];
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};
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/**
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* Efficiently finds all collisions among all the bodies in `detector.bodies` using a broadphase algorithm.
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*
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* _Note:_ The specific ordering of collisions returned is not guaranteed between releases and may change for performance reasons.
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* If a specific ordering is required then apply a sort to the resulting array.
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* @method collisions
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* @param {detector} detector
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* @return {collision[]} collisions
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*/
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Detector.collisions = function(detector) {
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var collisions = [],
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pairs = engine.pairs,
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broadphasePairsLength = broadphasePairs.length,
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pairs = detector.pairs,
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bodies = detector.bodies,
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bodiesLength = bodies.length,
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canCollide = Detector.canCollide,
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collides = SAT.collides,
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i;
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collides = Collision.collides,
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i,
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j;
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for (i = 0; i < broadphasePairsLength; i++) {
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var broadphasePair = broadphasePairs[i],
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bodyA = broadphasePair[0],
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bodyB = broadphasePair[1];
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bodies.sort(Detector._compareBoundsX);
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if ((bodyA.isStatic || bodyA.isSleeping) && (bodyB.isStatic || bodyB.isSleeping))
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continue;
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for (i = 0; i < bodiesLength; i++) {
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var bodyA = bodies[i],
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boundsA = bodyA.bounds,
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boundXMax = bodyA.bounds.max.x,
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boundYMax = bodyA.bounds.max.y,
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boundYMin = bodyA.bounds.min.y,
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bodyAStatic = bodyA.isStatic || bodyA.isSleeping,
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partsALength = bodyA.parts.length,
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partsASingle = partsALength === 1;
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if (!canCollide(bodyA.collisionFilter, bodyB.collisionFilter))
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continue;
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var boundsA = bodyA.bounds,
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for (j = i + 1; j < bodiesLength; j++) {
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var bodyB = bodies[j],
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boundsB = bodyB.bounds;
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if (boundsA.min.x > boundsB.max.x || boundsA.max.x < boundsB.min.x
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|| boundsA.max.y < boundsB.min.y || boundsA.min.y > boundsB.max.y) {
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if (boundsB.min.x > boundXMax) {
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break;
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}
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if (boundYMax < boundsB.min.y || boundYMin > boundsB.max.y) {
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continue;
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}
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var partsALength = bodyA.parts.length,
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partsBLength = bodyB.parts.length;
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if (bodyAStatic && (bodyB.isStatic || bodyB.isSleeping)) {
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continue;
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}
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if (partsALength === 1 && partsBLength === 1) {
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if (!canCollide(bodyA.collisionFilter, bodyB.collisionFilter)) {
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continue;
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}
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var partsBLength = bodyB.parts.length;
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if (partsASingle && partsBLength === 1) {
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var collision = collides(bodyA, bodyB, pairs);
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if (collision) {
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@ -62,12 +110,12 @@ var Pair = require('./Pair');
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var partsAStart = partsALength > 1 ? 1 : 0,
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partsBStart = partsBLength > 1 ? 1 : 0;
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for (var j = partsAStart; j < partsALength; j++) {
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var partA = bodyA.parts[j],
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for (var k = partsAStart; k < partsALength; k++) {
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var partA = bodyA.parts[k],
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boundsA = partA.bounds;
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for (var k = partsBStart; k < partsBLength; k++) {
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var partB = bodyB.parts[k],
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for (var z = partsBStart; z < partsBLength; z++) {
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var partB = bodyB.parts[z],
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boundsB = partB.bounds;
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if (boundsA.min.x > boundsB.max.x || boundsA.max.x < boundsB.min.x
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@ -84,6 +132,7 @@ var Pair = require('./Pair');
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}
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}
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}
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}
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return collisions;
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};
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@ -103,4 +152,39 @@ var Pair = require('./Pair');
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return (filterA.mask & filterB.category) !== 0 && (filterB.mask & filterA.category) !== 0;
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};
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/**
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* The comparison function used in the broadphase algorithm.
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* Returns the signed delta of the bodies bounds on the x-axis.
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* @private
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* @method _sortCompare
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* @param {body} bodyA
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* @param {body} bodyB
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* @return {number} The signed delta used for sorting
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*/
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Detector._compareBoundsX = function(bodyA, bodyB) {
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return bodyA.bounds.min.x - bodyB.bounds.min.x;
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};
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/*
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*
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* Properties Documentation
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*
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*/
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/**
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* The array of `Matter.Body` between which the detector finds collisions.
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*
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* _Note:_ The order of bodies in this array _is not fixed_ and will be continually managed by the detector.
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* @property bodies
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* @type body[]
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* @default []
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*/
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/**
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* Optional. A `Matter.Pairs` object from which previous collision objects may be reused. Intended for internal `Matter.Engine` usage.
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* @property pairs
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* @type {pairs|null}
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* @default null
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*/
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})();
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@ -16,7 +16,6 @@ var Sleeping = require('./Sleeping');
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var Resolver = require('../collision/Resolver');
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var Detector = require('../collision/Detector');
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var Pairs = require('../collision/Pairs');
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var Grid = require('../collision/Grid');
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var Events = require('./Events');
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var Composite = require('../body/Composite');
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var Constraint = require('../constraint/Constraint');
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@ -43,7 +42,6 @@ var Body = require('../body/Body');
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enableSleeping: false,
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events: [],
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plugin: {},
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grid: null,
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gravity: {
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x: 0,
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y: 1,
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@ -60,10 +58,11 @@ var Body = require('../body/Body');
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var engine = Common.extend(defaults, options);
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engine.world = options.world || Composite.create({ label: 'World' });
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engine.grid = Grid.create(options.grid || options.broadphase);
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engine.pairs = Pairs.create();
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engine.pairs = options.pairs || Pairs.create();
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engine.detector = options.detector || Detector.create();
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// temporary back compatibility
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// for temporary back compatibility only
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engine.grid = { buckets: [] };
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engine.world.gravity = engine.gravity;
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engine.broadphase = engine.grid;
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engine.metrics = {};
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@ -93,9 +92,10 @@ var Body = require('../body/Body');
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correction = correction || 1;
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var world = engine.world,
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detector = engine.detector,
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pairs = engine.pairs,
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timing = engine.timing,
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grid = engine.grid,
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gridPairs = [],
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timestamp = timing.timestamp,
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i;
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// increment timestamp
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@ -109,15 +109,25 @@ var Body = require('../body/Body');
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Events.trigger(engine, 'beforeUpdate', event);
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// get lists of all bodies and constraints, no matter what composites they are in
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// get all bodies and all constraints in the world
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var allBodies = Composite.allBodies(world),
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allConstraints = Composite.allConstraints(world);
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// if sleeping enabled, call the sleeping controller
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// update the detector bodies if they have changed
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if (world.isModified) {
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Detector.setBodies(detector, allBodies);
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}
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// reset all composite modified flags
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if (world.isModified) {
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Composite.setModified(world, false, false, true);
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}
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// update sleeping if enabled
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if (engine.enableSleeping)
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Sleeping.update(allBodies, timing.timeScale);
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// applies gravity to all bodies
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// apply gravity to all bodies
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Engine._bodiesApplyGravity(allBodies, engine.gravity);
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// update all body position and rotation by integration
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@ -130,27 +140,11 @@ var Body = require('../body/Body');
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}
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Constraint.postSolveAll(allBodies);
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// broadphase pass: find potential collision pairs
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// if world is dirty, we must flush the whole grid
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if (world.isModified)
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Grid.clear(grid);
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// update the grid buckets based on current bodies
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Grid.update(grid, allBodies, engine, world.isModified);
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gridPairs = grid.pairsList;
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// clear all composite modified flags
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if (world.isModified) {
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Composite.setModified(world, false, false, true);
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}
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// narrowphase pass: find actual collisions, then create or update collision pairs
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var collisions = Detector.collisions(gridPairs, engine);
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// find all collisions
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detector.pairs = engine.pairs;
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var collisions = Detector.collisions(detector);
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// update collision pairs
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var pairs = engine.pairs,
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timestamp = timing.timestamp;
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Pairs.update(pairs, collisions, timestamp);
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// wake up bodies involved in collisions
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@ -224,17 +218,13 @@ var Body = require('../body/Body');
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};
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/**
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* Clears the engine including the world, pairs and broadphase.
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* Clears the engine pairs and detector.
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* @method clear
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* @param {engine} engine
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*/
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Engine.clear = function(engine) {
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var world = engine.world,
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bodies = Composite.allBodies(world);
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Pairs.clear(engine.pairs);
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Grid.clear(engine.grid);
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Grid.update(engine.grid, bodies, engine, true);
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Detector.clear(engine.detector);
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};
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/**
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@ -314,53 +304,53 @@ var Body = require('../body/Body');
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* Fired just before an update
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*
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* @event beforeUpdate
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* @param {} event An event object
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* @param {object} event An event object
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* @param {number} event.timestamp The engine.timing.timestamp of the event
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* @param {} event.source The source object of the event
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* @param {} event.name The name of the event
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* @param {engine} event.source The source object of the event
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* @param {string} event.name The name of the event
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*/
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/**
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* Fired after engine update and all collision events
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*
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* @event afterUpdate
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* @param {} event An event object
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* @param {object} event An event object
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* @param {number} event.timestamp The engine.timing.timestamp of the event
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* @param {} event.source The source object of the event
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* @param {} event.name The name of the event
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* @param {engine} event.source The source object of the event
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* @param {string} event.name The name of the event
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*/
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/**
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* Fired after engine update, provides a list of all pairs that have started to collide in the current tick (if any)
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*
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* @event collisionStart
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* @param {} event An event object
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* @param {} event.pairs List of affected pairs
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* @param {object} event An event object
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* @param {pair[]} event.pairs List of affected pairs
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* @param {number} event.timestamp The engine.timing.timestamp of the event
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* @param {} event.source The source object of the event
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* @param {} event.name The name of the event
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* @param {engine} event.source The source object of the event
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* @param {string} event.name The name of the event
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*/
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/**
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* Fired after engine update, provides a list of all pairs that are colliding in the current tick (if any)
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*
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* @event collisionActive
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* @param {} event An event object
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* @param {} event.pairs List of affected pairs
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* @param {object} event An event object
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* @param {pair[]} event.pairs List of affected pairs
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* @param {number} event.timestamp The engine.timing.timestamp of the event
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* @param {} event.source The source object of the event
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* @param {} event.name The name of the event
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* @param {engine} event.source The source object of the event
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* @param {string} event.name The name of the event
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*/
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/**
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* Fired after engine update, provides a list of all pairs that have ended collision in the current tick (if any)
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*
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* @event collisionEnd
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* @param {} event An event object
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* @param {} event.pairs List of affected pairs
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* @param {object} event An event object
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* @param {pair[]} event.pairs List of affected pairs
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* @param {number} event.timestamp The engine.timing.timestamp of the event
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* @param {} event.source The source object of the event
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* @param {} event.name The name of the event
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* @param {engine} event.source The source object of the event
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* @param {string} event.name The name of the event
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*/
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/*
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@ -452,9 +442,18 @@ var Body = require('../body/Body');
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* @default 0
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*/
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/**
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* A `Matter.Detector` instance.
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*
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* @property detector
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* @type detector
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* @default a Matter.Detector instance
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*/
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/**
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* A `Matter.Grid` instance.
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*
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* @deprecated replaced by `engine.detector`
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* @property grid
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* @type grid
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* @default a Matter.Grid instance
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/**
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* Replaced by and now alias for `engine.grid`.
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*
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* @deprecated use `engine.grid`
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* @deprecated replaced by `engine.detector`
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* @property broadphase
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* @type grid
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* @default a Matter.Grid instance
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