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implemented constraint warming

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This commit is contained in:
liabru 2017-04-25 23:48:37 +01:00
parent 26a60e4dcf
commit daf26af006
2 changed files with 26 additions and 3 deletions
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28
src/constraint/Constraint.js
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@ -72,6 +72,27 @@ var Common = require('../core/Common');
return constraint;
};
/**
* Prepares for solving by constraint warming.
* @private
* @method preSolveAll
* @param {body[]} bodies
*/
Constraint.preSolveAll = function(bodies) {
for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i],
impulse = body.constraintImpulse;
if (body.isStatic || (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0)) {
continue;
}
body.position.x += impulse.x;
body.position.y += impulse.y;
body.angle += impulse.angle;
}
};
/**
* Solves all constraints in a list of collisions.
* @private
@ -247,9 +268,10 @@ var Common = require('../core/Common');
Bounds.update(part.bounds, part.vertices, body.velocity);
}
impulse.angle = 0;
impulse.x = 0;
impulse.y = 0;
// dampen the cached impulse for warming next step
impulse.angle *= Constraint._warming;
impulse.x *= Constraint._warming;
impulse.y *= Constraint._warming;
}
};

1
src/core/Engine.js
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@ -150,6 +150,7 @@ var Body = require('../body/Body');
_bodiesUpdate(allBodies, delta, timing.timeScale, correction, world.bounds);
// update all constraints
Constraint.preSolveAll(allBodies);
for (i = 0; i < engine.constraintIterations; i++) {
Constraint.solveAll(allConstraints, timing.timeScale);
}