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https://github.com/liabru/matter-js.git
synced 2024-12-25 13:39:06 -05:00
implemented compound bodies, added Body.setParts
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liabru
parent
b7bf5d6643
commit
f554d6c9a6
6 changed files with 108 additions and 22 deletions
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@ -117,6 +117,7 @@ var Body = {};
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vertices: body.vertices,
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isStatic: body.isStatic,
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isSleeping: body.isSleeping,
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parent: body.parent || body,
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parts: body.parts || [body]
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});
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@ -194,6 +195,9 @@ var Body = {};
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case 'angularVelocity':
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Body.setAngularVelocity(body, value);
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break;
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case 'parts':
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Body.setParts(body, value);
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break;
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default:
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body[property] = value;
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@ -298,6 +302,78 @@ var Body = {};
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Bounds.update(body.bounds, body.vertices, body.velocity);
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};
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/**
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* Sets the parts of the `body` and updates mass, inertia and centroid.
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* Each part will have its parent set to `body`.
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* By default the convex hull will be automatically computed and set on `body`, unless `autoHull` is set to `false.`
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* Note that this method will ensure that the first part in `body.parts` will always be the `body`.
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* @method setParts
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* @param {body} body
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* @param [body] parts
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* @param {bool} [autoHull=true]
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*/
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Body.setParts = function(body, parts, autoHull) {
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autoHull = typeof autoHull !== 'undefined' ? autoHull : true;
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// ensure the body is always at index 0
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var index = Common.indexOf(parts, body);
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if (index > -1) {
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parts.splice(index, 1);
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}
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parts.unshift(body);
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body.parts = parts;
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if (parts.length === 1)
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return;
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var i;
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// find the convex hull of all parts to set on the parent body
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if (autoHull) {
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var vertices = [];
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for (i = 1; i < parts.length; i++) {
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vertices = vertices.concat(parts[i].vertices);
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}
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Vertices.clockwiseSort(vertices);
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var hull = Vertices.hull(vertices),
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hullCentre = Vertices.centre(hull);
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Body.setVertices(body, hull);
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Body.setPosition(body, hullCentre);
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}
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// find the combined properties of all parts to set on the parent body
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var mass = 0,
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area = 0,
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inertia = 0,
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centroid = { x: 0, y: 0 };
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for (i = 1; i < parts.length; i++) {
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var part = parts[i];
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part.parent = body;
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mass += part.mass;
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area += part.area;
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inertia += part.inertia;
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Vector.add(centroid, part.position, centroid);
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}
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centroid = Vector.div(centroid, parts.length - 1);
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body.area = area;
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body.parent = body;
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body.position.x = centroid.x;
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body.position.y = centroid.y;
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body.positionPrev.x = centroid.x;
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body.positionPrev.y = centroid.y;
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Body.setMass(body, mass);
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Body.setInertia(body, inertia);
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Body.setPosition(body, centroid);
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};
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/**
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* Sets the position of the body instantly. Velocity, angle, force etc. are unchanged.
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* @method setPosition
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@ -314,8 +390,6 @@ var Body = {};
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Vertices.translate(body.vertices, delta);
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Bounds.update(body.bounds, body.vertices, body.velocity);
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//Common.each(body.children, Body.setPosition, position);
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};
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/**
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@ -333,8 +407,6 @@ var Body = {};
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Vertices.rotate(body.vertices, delta, body.position);
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Axes.rotate(body.axes, delta);
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Bounds.update(body.bounds, body.vertices, body.velocity);
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//Common.each(body.children, Body.setAngle, angle);
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};
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/**
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@ -452,6 +524,10 @@ var Body = {};
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Axes.rotate(part.axes, body.angularVelocity);
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}
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Bounds.update(part.bounds, body.vertices, body.velocity);
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if (i > 0) {
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part.position.x += body.velocity.x;
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part.position.y += body.velocity.y;
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}
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}
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};
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@ -41,16 +41,15 @@ var Detector = {};
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// mid phase
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if (Bounds.overlaps(bodyA.bounds, bodyB.bounds)) {
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/*for (var j = 1; j < bodyA.parts.length; j++) {
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for (var j = bodyA.parts.length > 1 ? 1 : 0; j < bodyA.parts.length; j++) {
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var partA = bodyA.parts[j];
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for (var k = 1; k < bodyB.parts.length; k++) {
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for (var k = bodyB.parts.length > 1 ? 1 : 0; k < bodyB.parts.length; k++) {
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var partB = bodyB.parts[k];
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if (Bounds.overlaps(partA.bounds, partB.bounds)) {*/
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if ((partA === bodyA && partB === bodyB) || Bounds.overlaps(partA.bounds, partB.bounds)) {
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// find a previous collision we could reuse
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var pairId = Pair.id(bodyA, bodyB),
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var pairId = Pair.id(partA, partB),
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pair = pairsTable[pairId],
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previousCollision;
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@ -61,7 +60,7 @@ var Detector = {};
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}
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// narrow phase
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var collision = SAT.collides(bodyA, bodyB, previousCollision);
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var collision = SAT.collides(partA, partB, previousCollision);
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// @if DEBUG
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metrics.narrowphaseTests += 1;
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@ -75,9 +74,9 @@ var Detector = {};
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metrics.narrowDetections += 1;
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// @endif
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}
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//}
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//}
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//}
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}
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}
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}
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}
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}
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@ -40,8 +40,8 @@ var Resolver = {};
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continue;
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collision = pair.collision;
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bodyA = collision.bodyA;
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bodyB = collision.bodyB;
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bodyA = collision.parentA;
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bodyB = collision.parentB;
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vertex = collision.supports[0];
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vertexCorrected = collision.supportCorrected;
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normal = collision.normal;
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@ -61,8 +61,8 @@ var Resolver = {};
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continue;
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collision = pair.collision;
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bodyA = collision.bodyA;
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bodyB = collision.bodyB;
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bodyA = collision.parentA;
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bodyB = collision.parentB;
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normal = collision.normal;
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positionImpulse = ((pair.separation * _positionDampen) - pair.slop) * timeScale;
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@ -102,6 +102,10 @@ var Resolver = {};
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var part = body.parts[j];
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Vertices.translate(part.vertices, body.positionImpulse);
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Bounds.update(part.bounds, body.vertices, body.velocity);
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if (j > 0) {
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part.position.x += body.positionImpulse.x;
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part.position.y += body.positionImpulse.y;
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}
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}
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// dampen accumulator to warm the next step
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@ -142,8 +146,8 @@ var Resolver = {};
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contacts = pair.activeContacts;
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collision = pair.collision;
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bodyA = collision.bodyA;
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bodyB = collision.bodyB;
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bodyA = collision.parentA;
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bodyB = collision.parentB;
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normal = collision.normal;
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tangent = collision.tangent;
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@ -197,8 +201,8 @@ var Resolver = {};
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continue;
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var collision = pair.collision,
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bodyA = collision.bodyA,
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bodyB = collision.bodyB,
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bodyA = collision.parentA,
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bodyB = collision.parentB,
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normal = collision.normal,
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tangent = collision.tangent,
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contacts = pair.activeContacts,
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@ -87,6 +87,8 @@ var SAT = {};
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collision.collided = true;
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collision.normal = minOverlap.axis;
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collision.depth = minOverlap.overlap;
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collision.parentA = collision.bodyA.parent;
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collision.parentB = collision.bodyB.parent;
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bodyA = collision.bodyA;
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bodyB = collision.bodyB;
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@ -260,6 +260,11 @@ var Constraint = {};
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}
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Bounds.update(part.bounds, body.vertices);
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if (j > 0) {
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part.position.x += impulse.x;
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part.position.y += impulse.y;
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}
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}
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impulse.x = 0;
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@ -337,7 +337,7 @@ var Vertices = {};
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});
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return vertices;
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}
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};
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/**
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* Returns the convex hull of the input vertices as a new array of points.
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