/** * matter-dev.js 0.5.0 2014-03-07 * http://brm.io/matter-js/ * License: MIT */ /** * The MIT License (MIT) * * Copyright (c) 2014 Liam Brummitt * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ (function() { var Matter = {}; // Begin Matter namespace closure // All Matter modules are included below during build // Outro.js then closes at the end of the file // Begin src/body/Body.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Body */ var Body = {}; (function() { var _nextId = 0, _nextGroupId = 1; /** * Description to be written. * @method create * @param {} options * @return {body} body */ Body.create = function(options) { var defaults = { id: Body.nextId(), angle: 0, position: { x: 0, y: 0 }, force: { x: 0, y: 0 }, torque: 0, positionImpulse: { x: 0, y: 0 }, speed: 0, angularSpeed: 0, velocity: { x: 0, y: 0 }, angularVelocity: 0, isStatic: false, isSleeping: false, motion: 0, sleepThreshold: 60, density: 0.001, restitution: 0, friction: 0.1, frictionAir: 0.01, path: 'L 0 0 L 40 0 L 40 40 L 0 40', fillStyle: options.isStatic ? '#eeeeee' : Common.choose(['#556270', '#4ECDC4', '#C7F464', '#FF6B6B', '#C44D58']), lineWidth: 1.5, groupId: 0, slop: 0.05 }; var body = Common.extend(defaults, options); Body.updateProperties(body); return body; }; /** * Description * @method nextId * @return {Number} Unique bodyID */ Body.nextId = function() { return _nextId++; }; /** * Description * @method nextGroupId * @return {Number} Unique groupID */ Body.nextGroupId = function() { return _nextGroupId++; }; /** * Description * @method updateProperties * @param {body} body */ Body.updateProperties = function(body) { // calculated properties body.vertices = body.vertices || Vertices.fromPath(body.path); body.axes = body.axes || Axes.fromVertices(body.vertices); body.area = Vertices.area(body.vertices); body.bounds = Bounds.create(body.vertices); body.mass = body.mass || (body.density * body.area); body.inverseMass = 1 / body.mass; body.inertia = body.inertia || Vertices.inertia(body.vertices, body.mass); body.inverseInertia = 1 / body.inertia; body.positionPrev = body.positionPrev || { x: body.position.x, y: body.position.y }; body.anglePrev = body.anglePrev || body.angle; body.strokeStyle = body.strokeStyle || Common.shadeColor(body.fillStyle, -20); // update geometry Vertices.create(body.vertices, body); var centre = Vertices.centre(body.vertices); Vertices.translate(body.vertices, body.position); Vertices.translate(body.vertices, centre, -1); Vertices.rotate(body.vertices, body.angle, body.position); Axes.rotate(body.axes, body.angle); Bounds.update(body.bounds, body.vertices, body.velocity); if (body.isStatic) { body.restitution = 0; body.friction = 1; body.mass = body.inertia = body.density = Infinity; body.inverseMass = body.inverseInertia = 0; body.lineWidth = 1; } Sleeping.set(body, body.isSleeping); }; /** * Description * @method resetForcesAll * @param {body[]} bodies * @param {vector} gravity */ Body.resetForcesAll = function(bodies, gravity) { for (var i = 0; i < bodies.length; i++) { var body = bodies[i]; if (body.isStatic || body.isSleeping) continue; // reset force buffers body.force.x = 0; body.force.y = 0; body.torque = 0; // apply gravity body.force.y += body.mass * gravity.y * 0.001; body.force.x += body.mass * gravity.x * 0.001; } }; /** * Description * @method updateAll * @param {body[]} bodies * @param {number} deltaTime * @param {number} correction * @param {bounds} worldBounds */ Body.updateAll = function(bodies, deltaTime, correction, worldBounds) { for (var i = 0; i < bodies.length; i++) { var body = bodies[i]; if (body.isStatic || body.isSleeping) continue; // don't update out of world bodies // TODO: viewports if (body.bounds.max.x < worldBounds.min.x || body.bounds.min.x > worldBounds.max.x || body.bounds.max.y < worldBounds.min.y || body.bounds.min.y > worldBounds.max.y) continue; Body.update(body, deltaTime, correction); } }; /** * Description * @method update * @param {body} body * @param {number} deltaTime * @param {number} correction */ Body.update = function(body, deltaTime, correction) { var deltaTimeSquared = deltaTime * deltaTime; // from the previous step var frictionAir = 1 - body.frictionAir, velocityPrevX = body.position.x - body.positionPrev.x, velocityPrevY = body.position.y - body.positionPrev.y; // update velocity with verlet integration body.velocity.x = (velocityPrevX * frictionAir * correction) + (body.force.x / body.mass) * deltaTimeSquared; body.velocity.y = (velocityPrevY * frictionAir * correction) + (body.force.y / body.mass) * deltaTimeSquared; body.positionPrev.x = body.position.x; body.positionPrev.y = body.position.y; body.position.x += body.velocity.x; body.position.y += body.velocity.y; // update angular velocity with verlet integration body.angularVelocity = ((body.angle - body.anglePrev) * frictionAir * correction) + (body.torque / body.inertia) * deltaTimeSquared; body.anglePrev = body.angle; body.angle += body.angularVelocity; // track speed and acceleration body.speed = Vector.magnitude(body.velocity); body.angularSpeed = Math.abs(body.angularVelocity); // transform the body geometry Vertices.translate(body.vertices, body.velocity); Vertices.rotate(body.vertices, body.angularVelocity, body.position); Axes.rotate(body.axes, body.angularVelocity); Bounds.update(body.bounds, body.vertices, body.velocity); }; /** * Description * @method applyForce * @param {body} body * @param {vector} position * @param {vector} force */ Body.applyForce = function(body, position, force) { body.force.x += force.x; body.force.y += force.y; var offset = { x: position.x - body.position.x, y: position.y - body.position.y }; body.torque += (offset.x * force.y - offset.y * force.x) * body.inverseInertia; }; /** * Description * @method translate * @param {body} body * @param {vector} translation */ Body.translate = function(body, translation) { body.positionPrev.x += translation.x; body.positionPrev.y += translation.y; body.position.x += translation.x; body.position.y += translation.y; Vertices.translate(body.vertices, translation); Bounds.update(body.bounds, body.vertices, body.velocity); }; /** * Description * @method rotate * @param {body} body * @param {number} angle */ Body.rotate = function(body, angle) { body.anglePrev += angle; body.angle += angle; Vertices.rotate(body.vertices, angle, body.position); Axes.rotate(body.axes, angle); Bounds.update(body.bounds, body.vertices, body.velocity); }; })(); ; // End src/body/Body.js // Begin src/body/Composite.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Composite */ // TODO: composite translate, rotate var Composite = {}; (function() { /** * Description * @method create * @param {} options * @return {composite} A new composite */ Composite.create = function(options) { return Common.extend({ bodies: [], constraints: [], composites: [] }, options); }; /** * Description * @method add * @param {composite} compositeA * @param {composite} compositeB * @return {composite} The original compositeA with the objects from compositeB added */ Composite.add = function(compositeA, compositeB) { if (compositeA.bodies && compositeB.bodies) compositeA.bodies = compositeA.bodies.concat(compositeB.bodies); if (compositeA.constraints && compositeB.constraints) compositeA.constraints = compositeA.constraints.concat(compositeB.constraints); if (compositeA.composites && compositeB.composites) compositeA.composites = compositeA.composites.concat(compositeB.composites); return compositeA; }; /** * Description * @method addBody * @param {composite} composite * @param {body} body * @return {composite} The original composite with the body added */ Composite.addBody = function(composite, body) { composite.bodies = composite.bodies || []; composite.bodies.push(body); return composite; }; /** * Description * @method addConstraint * @param {composite} composite * @param {constraint} constraint * @return {composite} The original composite with the constraint added */ Composite.addConstraint = function(composite, constraint) { composite.constraints = composite.constraints || []; composite.constraints.push(constraint); return composite; }; })(); ; // End src/body/Composite.js // Begin src/body/World.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class World */ var World = {}; (function() { /** * Description * @method create * @constructor * @param {} options * @return {world} A new world */ World.create = function(options) { var defaults = { gravity: { x: 0, y: 1 }, bodies: [], constraints: [], bounds: { min: { x: 0, y: 0 }, max: { x: 800, y: 600 } } }; return Common.extend(defaults, options); }; /** * Description * @method clear * @param {world} world * @param {boolean} keepStatic */ World.clear = function(world, keepStatic) { world.bodies = keepStatic ? world.bodies.filter(function(body) { return body.isStatic; }) : []; world.constraints = []; }; // World is a Composite body // see src/module/Outro.js for these aliases: /** * An alias for Composite.add since World is also a Composite (see Outro.js) * @method addComposite * @param {world} world * @param {composite} composite * @return {world} The original world with the objects from composite added */ /** * An alias for Composite.addBody since World is also a Composite (see Outro.js) * @method addBody * @param {world} world * @param {body} body * @return {world} The original world with the body added */ /** * An alias for Composite.addConstraint since World is also a Composite (see Outro.js) * @method addConstraint * @param {world} world * @param {constraint} constraint * @return {world} The original world with the constraint added */ })(); ; // End src/body/World.js // Begin src/collision/Contact.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Contact */ var Contact = {}; (function() { /** * Description * @method create * @param {vertex} vertex * @return {contact} A new contact */ Contact.create = function(vertex) { return { id: Contact.id(vertex), vertex: vertex, normalImpulse: 0, tangentImpulse: 0 }; }; /** * Description * @method id * @param {vertex} vertex * @return {Number} Unique contactID */ Contact.id = function(vertex) { return vertex.body.id + '_' + vertex.index; }; })(); ; // End src/collision/Contact.js // Begin src/collision/Detector.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Detector */ // TODO: speculative contacts var Detector = {}; (function() { /** * Description * @method collisions * @param {pair[]} pairs * @param {metrics} metrics * @return {array} collisions */ Detector.collisions = function(pairs, metrics) { var collisions = []; for (var i = 0; i < pairs.length; i++) { var bodyA = pairs[i][0], bodyB = pairs[i][1]; // NOTE: could share a function for the below, but may drop performance? if (bodyA.groupId && bodyB.groupId && bodyA.groupId === bodyB.groupId) continue; if ((bodyA.isStatic || bodyA.isSleeping) && (bodyB.isStatic || bodyB.isSleeping)) continue; metrics.midphaseTests += 1; // mid phase if (Bounds.overlaps(bodyA.bounds, bodyB.bounds)) { // narrow phase var collision = SAT.collides(bodyA, bodyB); metrics.narrowphaseTests += 1; if (collision.collided) { collisions.push(collision); metrics.narrowDetections += 1; } } } return collisions; }; /** * Description * @method bruteForce * @param {body[]} bodies * @param {metrics} metrics * @return {array} collisions */ Detector.bruteForce = function(bodies, metrics) { var collisions = []; for (var i = 0; i < bodies.length; i++) { for (var j = i + 1; j < bodies.length; j++) { var bodyA = bodies[i], bodyB = bodies[j]; // NOTE: could share a function for the below, but may drop performance? if (bodyA.groupId && bodyB.groupId && bodyA.groupId === bodyB.groupId) continue; if ((bodyA.isStatic || bodyA.isSleeping) && (bodyB.isStatic || bodyB.isSleeping)) continue; metrics.midphaseTests += 1; // mid phase if (Bounds.overlaps(bodyA.bounds, bodyB.bounds)) { // narrow phase var collision = SAT.collides(bodyA, bodyB); metrics.narrowphaseTests += 1; if (collision.collided) { collisions.push(collision); metrics.narrowDetections += 1; } } } } return collisions; }; })(); ; // End src/collision/Detector.js // Begin src/collision/Grid.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Grid */ var Grid = {}; (function() { /** * Description * @method create * @param {number} bucketWidth * @param {number} bucketHeight * @return {grid} A new grid */ Grid.create = function(bucketWidth, bucketHeight) { return { buckets: {}, pairs: {}, pairsList: [], bucketWidth: bucketWidth || 48, bucketHeight: bucketHeight || 48 }; }; /** * Description * @method update * @param {grid} grid * @param {body[]} bodies * @param {engine} engine * @param {boolean} forceUpdate */ Grid.update = function(grid, bodies, engine, forceUpdate) { var i, col, row, world = engine.world, buckets = grid.buckets, bucket, bucketId, metrics = engine.metrics, gridChanged = false; metrics.broadphaseTests = 0; for (i = 0; i < bodies.length; i++) { var body = bodies[i]; if (body.isSleeping) continue; // don't update out of world bodies if (body.bounds.max.x < 0 || body.bounds.min.x > world.bounds.width || body.bounds.max.y < 0 || body.bounds.min.y > world.bounds.height) continue; var newRegion = _getRegion(grid, body); // if the body has changed grid region if (!body.region || newRegion.id !== body.region.id || forceUpdate) { metrics.broadphaseTests += 1; if (!body.region || forceUpdate) body.region = newRegion; var union = _regionUnion(newRegion, body.region); // update grid buckets affected by region change // iterate over the union of both regions for (col = union.startCol; col <= union.endCol; col++) { for (row = union.startRow; row <= union.endRow; row++) { bucketId = _getBucketId(col, row); bucket = buckets[bucketId]; var isInsideNewRegion = (col >= newRegion.startCol && col <= newRegion.endCol && row >= newRegion.startRow && row <= newRegion.endRow); var isInsideOldRegion = (col >= body.region.startCol && col <= body.region.endCol && row >= body.region.startRow && row <= body.region.endRow); // remove from old region buckets if (!isInsideNewRegion && isInsideOldRegion) { if (isInsideOldRegion) { if (bucket) _bucketRemoveBody(grid, bucket, body); } } // add to new region buckets if (body.region === newRegion || (isInsideNewRegion && !isInsideOldRegion) || forceUpdate) { if (!bucket) bucket = _createBucket(buckets, bucketId); _bucketAddBody(grid, bucket, body); } } } // set the new region body.region = newRegion; // flag changes so we can update pairs gridChanged = true; } } // update pairs list only if pairs changed (i.e. a body changed region) if (gridChanged) grid.pairsList = _createActivePairsList(grid); }; /** * Description * @method clear * @param {grid} grid */ Grid.clear = function(grid) { grid.buckets = {}; grid.pairs = {}; grid.pairsList = []; }; /** * Description * @method _regionUnion * @private * @param {} regionA * @param {} regionB * @return CallExpression */ var _regionUnion = function(regionA, regionB) { var startCol = Math.min(regionA.startCol, regionB.startCol), endCol = Math.max(regionA.endCol, regionB.endCol), startRow = Math.min(regionA.startRow, regionB.startRow), endRow = Math.max(regionA.endRow, regionB.endRow); return _createRegion(startCol, endCol, startRow, endRow); }; /** * Description * @method _getRegion * @private * @param {} grid * @param {} body * @return CallExpression */ var _getRegion = function(grid, body) { var bounds = body.bounds, startCol = Math.floor(bounds.min.x / grid.bucketWidth), endCol = Math.floor(bounds.max.x / grid.bucketWidth), startRow = Math.floor(bounds.min.y / grid.bucketHeight), endRow = Math.floor(bounds.max.y / grid.bucketHeight); return _createRegion(startCol, endCol, startRow, endRow); }; /** * Description * @method _createRegion * @private * @param {} startCol * @param {} endCol * @param {} startRow * @param {} endRow * @return ObjectExpression */ var _createRegion = function(startCol, endCol, startRow, endRow) { return { id: startCol + ',' + endCol + ',' + startRow + ',' + endRow, startCol: startCol, endCol: endCol, startRow: startRow, endRow: endRow }; }; /** * Description * @method _getBucketId * @private * @param {} column * @param {} row * @return BinaryExpression */ var _getBucketId = function(column, row) { return column + ',' + row; }; /** * Description * @method _createBucket * @private * @param {} buckets * @param {} bucketId * @return bucket */ var _createBucket = function(buckets, bucketId) { var bucket = buckets[bucketId] = []; return bucket; }; /** * Description * @method _bucketAddBody * @private * @param {} grid * @param {} bucket * @param {} body */ var _bucketAddBody = function(grid, bucket, body) { // add new pairs for (var i = 0; i < bucket.length; i++) { var bodyB = bucket[i]; if (body.id === bodyB.id || (body.isStatic && bodyB.isStatic)) continue; // keep track of the number of buckets the pair exists in // important for Grid.update to work var pairId = _getPairId(body, bodyB); if (grid.pairs[pairId]) { grid.pairs[pairId][2] += 1; } else { grid.pairs[pairId] = [body, bodyB, 1]; } } // add to bodies (after pairs, otherwise pairs with self) bucket.push(body); }; /** * Description * @method _bucketRemoveBody * @private * @param {} grid * @param {} bucket * @param {} body */ var _bucketRemoveBody = function(grid, bucket, body) { // remove from bodies for (var i = 0; i < bucket.length; i++) { var bodyB = bucket[i]; // when position of body in bucket array is found, remove it if (bodyB.id === body.id) { bucket.splice(i, 1); continue; } else { // keep track of the number of buckets the pair exists in // important for Grid.update to work var pairId = _getPairId(body, bodyB); if (grid.pairs[pairId]) { var pairCount = grid.pairs[pairId][2]; grid.pairs[pairId][2] = pairCount > 0 ? pairCount - 1 : 0; } } } }; /** * Description * @method _getPairId * @private * @param {} bodyA * @param {} bodyB */ var _getPairId = function(bodyA, bodyB) { if (bodyA.id < bodyB.id) { return bodyA.id + ',' + bodyB.id; } else { return bodyB.id + ',' + bodyA.id; } }; /** * Description * @method _createActivePairsList * @private * @param {} grid * @return pairs */ var _createActivePairsList = function(grid) { var pairKeys, pair, pairs = []; // grid.pairs is used as a hashmap pairKeys = Common.keys(grid.pairs); // iterate over grid.pairs for (var k = 0; k < pairKeys.length; k++) { pair = grid.pairs[pairKeys[k]]; // if pair exists in at least one bucket // it is a pair that needs further collision testing so push it if (pair[2] > 0) pairs.push(pair); } return pairs; }; })(); ; // End src/collision/Grid.js // Begin src/collision/Manager.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Manager */ var Manager = {}; (function() { var _pairMaxIdleLife = 500; /** * Description * @method updatePairs * @param {object} pairs * @param {pair[]} pairsList * @param {pair[]} candidatePairs * @param {metrics} metrics * @param {detector} detector * @return {bool} pairsUpdated flag */ Manager.updatePairs = function(pairs, pairsList, candidatePairs, metrics, detector) { var i; // first set all pairs inactive for (i = 0; i < pairsList.length; i++) { var pair = pairsList[i]; Pair.setActive(pair, false); } // detect collisions in current step var pairsUpdated = false, collisions = detector(candidatePairs, metrics); // set collision pairs to active, or create if pair is new for (i = 0; i < collisions.length; i++) { var collision = collisions[i], pairId = Pair.id(collision.bodyA, collision.bodyB); if (pairId in pairs) { Pair.update(pairs[pairId], collision); } else { pairs[pairId] = Pair.create(collision); pairsUpdated = true; } } return pairsUpdated; }; /** * Description * @method removeOldPairs * @param {object} pairs * @param {pair[]} pairsList * @return {bool} pairsRemoved flag */ Manager.removeOldPairs = function(pairs, pairsList) { var timeNow = Common.now(), pairsRemoved = false, i; for (i = 0; i < pairsList.length; i++) { var pair = pairsList[i], collision = pair.collision; // never remove sleeping pairs if (collision.bodyA.isSleeping || collision.bodyB.isSleeping) { pair.timestamp = timeNow; continue; } // if pair is inactive for too long, remove it if (timeNow - pair.timestamp > _pairMaxIdleLife) { delete pairs[pair.id]; pairsRemoved = true; } } return pairsRemoved; }; })(); ; // End src/collision/Manager.js // Begin src/collision/Pair.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Pair */ var Pair = {}; (function() { /** * Description * @method create * @param {collision} collision * @return {pair} A new pair */ Pair.create = function(collision) { var bodyA = collision.bodyA, bodyB = collision.bodyB; var pair = { id: Pair.id(bodyA, bodyB), contacts: {}, activeContacts: [], separation: 0, isActive: true, timestamp: Common.now(), inverseMass: bodyA.inverseMass + bodyB.inverseMass, friction: Math.min(bodyA.friction, bodyB.friction), restitution: Math.max(bodyA.restitution, bodyB.restitution), slop: Math.max(bodyA.slop, bodyB.slop) }; Pair.update(pair, collision); return pair; }; /** * Description * @method update * @param {pair} pair * @param {collision} collision */ Pair.update = function(pair, collision) { var contacts = pair.contacts, supports = collision.supports, activeContacts = []; pair.collision = collision; if (collision.collided) { for (var i = 0; i < supports.length; i++) { var support = supports[i], contactId = Contact.id(support); if (contactId in contacts) { activeContacts.push(contacts[contactId]); } else { activeContacts.push(contacts[contactId] = Contact.create(support)); } } pair.activeContacts = activeContacts; pair.separation = collision.depth; Pair.setActive(pair, true); } else { Pair.setActive(pair, false); } }; /** * Description * @method setActive * @param {pair} pair * @param {bool} isActive */ Pair.setActive = function(pair, isActive) { if (isActive) { pair.isActive = true; pair.timestamp = Common.now(); } else { pair.isActive = false; pair.activeContacts = []; } }; /** * Description * @method id * @param {body} bodyA * @param {body} bodyB * @return {number} Unique pairId */ Pair.id = function(bodyA, bodyB) { if (bodyA.id < bodyB.id) { return bodyA.id + '_' + bodyB.id; } else { return bodyB.id + '_' + bodyA.id; } }; })(); ; // End src/collision/Pair.js // Begin src/collision/Resolver.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Resolver */ var Resolver = {}; (function() { var _restingThresh = 4, _positionDampen = 0.2, _positionWarming = 0.6; /** * Description * @method solvePosition * @param {pair[]} pairs */ Resolver.solvePosition = function(pairs) { var i, pair, collision, bodyA, bodyB, vertex, vertexCorrected, normal, bodyBtoA; // find impulses required to resolve penetration for (i = 0; i < pairs.length; i++) { pair = pairs[i]; if (!pair.isActive) continue; collision = pair.collision; bodyA = collision.bodyA; bodyB = collision.bodyB; 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), Vector.add(bodyA.positionImpulse, vertexCorrected)); pair.separation = Vector.dot(normal, bodyBtoA); } for (i = 0; i < pairs.length; i++) { pair = pairs[i]; if (!pair.isActive) continue; collision = pair.collision; bodyA = collision.bodyA; bodyB = collision.bodyB; normal = collision.normal; positionImpulse = (pair.separation * _positionDampen) - pair.slop; if (bodyA.isStatic || bodyB.isStatic) positionImpulse *= 2; if (!(bodyA.isStatic || bodyA.isSleeping)) { bodyA.positionImpulse.x += normal.x * positionImpulse; bodyA.positionImpulse.y += normal.y * positionImpulse; } if (!(bodyB.isStatic || bodyB.isSleeping)) { bodyB.positionImpulse.x -= normal.x * positionImpulse; bodyB.positionImpulse.y -= normal.y * positionImpulse; } } }; /** * Description * @method postSolvePosition * @param {body[]} bodies */ Resolver.postSolvePosition = function(bodies) { for (var i = 0; i < bodies.length; i++) { var body = bodies[i]; if (body.positionImpulse.x !== 0 || body.positionImpulse.y !== 0) { // move the body without changing velocity body.position.x += body.positionImpulse.x; body.position.y += body.positionImpulse.y; body.positionPrev.x += body.positionImpulse.x; body.positionPrev.y += body.positionImpulse.y; // update body geometry Vertices.translate(body.vertices, body.positionImpulse); Bounds.update(body.bounds, body.vertices, body.velocity); // dampen accumulator to warm the next step body.positionImpulse.x *= _positionWarming; body.positionImpulse.y *= _positionWarming; } } }; /** * Description * @method preSolveVelocity * @param {pair[]} pairs */ Resolver.preSolveVelocity = function(pairs) { var impulse = {}, i, j, pair, contacts, collision, bodyA, bodyB, normal, tangent, contact, contactVertex, normalImpulse, tangentImpulse, offset; for (i = 0; i < pairs.length; i++) { pair = pairs[i]; if (!pair.isActive) continue; contacts = pair.activeContacts; collision = pair.collision; bodyA = collision.bodyA; bodyB = collision.bodyB; normal = collision.normal; tangent = collision.tangent; // resolve each contact for (j = 0; j < contacts.length; j++) { contact = contacts[j]; 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); 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); bodyB.positionPrev.x -= impulse.x * bodyB.inverseMass; bodyB.positionPrev.y -= impulse.y * bodyB.inverseMass; bodyB.anglePrev -= Vector.cross(offset, impulse) * bodyB.inverseInertia; } } } }; /** * Description * @method solveVelocity * @param {pair[]} pairs */ Resolver.solveVelocity = function(pairs) { var impulse = {}; for (var i = 0; i < pairs.length; i++) { var pair = pairs[i]; if (!pair.isActive) continue; var collision = pair.collision, bodyA = collision.bodyA, bodyB = collision.bodyB, normal = collision.normal, tangent = collision.tangent, contacts = pair.activeContacts, contactShare = 1 / contacts.length; // update body velocities bodyA.velocity.x = bodyA.position.x - bodyA.positionPrev.x; bodyA.velocity.y = bodyA.position.y - bodyA.positionPrev.y; bodyB.velocity.x = bodyB.position.x - bodyB.positionPrev.x; bodyB.velocity.y = bodyB.position.y - bodyB.positionPrev.y; bodyA.angularVelocity = bodyA.angle - bodyA.anglePrev; bodyB.angularVelocity = bodyB.angle - bodyB.anglePrev; // resolve each contact for (var j = 0; j < contacts.length; j++) { var contact = contacts[j], contactVertex = contact.vertex, offsetA = Vector.sub(contactVertex, bodyA.position), offsetB = Vector.sub(contactVertex, bodyB.position), velocityPointA = Vector.add(bodyA.velocity, Vector.mult(Vector.perp(offsetA), bodyA.angularVelocity)), velocityPointB = Vector.add(bodyB.velocity, Vector.mult(Vector.perp(offsetB), bodyB.angularVelocity)), relativeVelocity = Vector.sub(velocityPointA, velocityPointB), normalVelocity = Vector.dot(normal, relativeVelocity); var tangentVelocity = Vector.dot(tangent, relativeVelocity), tangentSpeed = Math.abs(tangentVelocity), tangentVelocityDirection = Common.sign(tangentVelocity); // raw impulses var normalImpulse = (1 + pair.restitution) * normalVelocity, normalForce = Common.clamp(pair.separation + normalVelocity, 0, 1); // coulomb friction var tangentImpulse = tangentVelocity; if (tangentSpeed > normalForce * pair.friction) tangentImpulse = normalForce * pair.friction * tangentVelocityDirection; // modify impulses accounting for mass, inertia and offset var oAcN = Vector.cross(offsetA, normal), oBcN = Vector.cross(offsetB, normal), share = contactShare / (pair.inverseMass + bodyA.inverseInertia * oAcN * oAcN + bodyB.inverseInertia * oBcN * oBcN); normalImpulse *= share; tangentImpulse *= share; // handle high velocity and resting collisions separately if (normalVelocity < 0 && normalVelocity * normalVelocity > _restingThresh) { // high velocity so clear cached contact impulse contact.normalImpulse = 0; contact.tangentImpulse = 0; } else { // solve resting collision constraints using Erin Catto's method (GDC08) // impulse constraint, tends to 0 var contactNormalImpulse = contact.normalImpulse; contact.normalImpulse = Math.min(contact.normalImpulse + normalImpulse, 0); normalImpulse = contact.normalImpulse - contactNormalImpulse; // tangent impulse, tends to -maxFriction or maxFriction var contactTangentImpulse = contact.tangentImpulse; contact.tangentImpulse = Common.clamp(contact.tangentImpulse + tangentImpulse, -tangentSpeed, tangentSpeed); tangentImpulse = contact.tangentImpulse - contactTangentImpulse; } // 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)) { bodyA.positionPrev.x += impulse.x * bodyA.inverseMass; bodyA.positionPrev.y += impulse.y * bodyA.inverseMass; bodyA.anglePrev += Vector.cross(offsetA, impulse) * bodyA.inverseInertia; } if (!(bodyB.isStatic || bodyB.isSleeping)) { bodyB.positionPrev.x -= impulse.x * bodyB.inverseMass; bodyB.positionPrev.y -= impulse.y * bodyB.inverseMass; bodyB.anglePrev -= Vector.cross(offsetB, impulse) * bodyB.inverseInertia; } } } }; })(); ; // End src/collision/Resolver.js // Begin src/collision/SAT.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class SAT */ // TODO: true circles and curves // TODO: cache the previously found axis and body, and start there first for faster early out var SAT = {}; (function() { /** * Description * @method collides * @param {body} bodyA * @param {body} bodyB * @return {collision} collision */ SAT.collides = function(bodyA, bodyB) { var overlapAB, overlapBA, minOverlap, collision = { collided: false, bodyA: bodyA, bodyB: bodyB}; overlapAB = _overlapAxes(bodyA.vertices, bodyB.vertices, bodyA.axes); if (overlapAB.overlap === 0) return collision; overlapBA = _overlapAxes(bodyB.vertices, bodyA.vertices, bodyB.axes); if (overlapBA.overlap === 0) return collision; if (overlapAB.overlap < overlapBA.overlap) { minOverlap = overlapAB; } else { minOverlap = overlapBA; collision.bodyA = bodyB; collision.bodyB = bodyA; } collision.collided = true; collision.normal = minOverlap.axis; collision.depth = minOverlap.overlap; bodyA = collision.bodyA; bodyB = collision.bodyB; // ensure normal is facing away from bodyA if (Vector.dot(collision.normal, Vector.sub(bodyB.position, bodyA.position)) > 0) collision.normal = Vector.neg(collision.normal); collision.tangent = Vector.perp(collision.normal); collision.penetration = { x: collision.normal.x * collision.depth, y: collision.normal.y * collision.depth }; // find support points, there is always either exactly one or two var verticesB = _findSupports(bodyA, bodyB, collision.normal), supports = [verticesB[0]]; if (Vertices.contains(bodyA.vertices, verticesB[1])) { supports.push(verticesB[1]); } else { var verticesA = _findSupports(bodyB, bodyA, Vector.neg(collision.normal)); if (Vertices.contains(bodyB.vertices, verticesA[0])) { supports.push(verticesA[0]); } if (supports.length < 2 && Vertices.contains(bodyB.vertices, verticesA[1])) { supports.push(verticesA[1]); } } collision.supports = supports; collision.supportCorrected = Vector.sub(verticesB[0], collision.penetration); return collision; }; /** * Description * @method _overlapAxes * @private * @param {} verticesA * @param {} verticesB * @param {} axes * @return result */ var _overlapAxes = function(verticesA, verticesB, axes) { var projectionA = {}, projectionB = {}, result = { overlap: Number.MAX_VALUE }, overlap, axis; for (var i = 0; i < axes.length; i++) { axis = axes[i]; _projectToAxis(projectionA, verticesA, axis); _projectToAxis(projectionB, verticesB, axis); overlap = projectionA.min < projectionB.min ? projectionA.max - projectionB.min : projectionB.max - projectionA.min; if (overlap <= 0) return { overlap: 0 }; if (overlap < result.overlap) { result.overlap = overlap; result.axis = axis; } } return result; }; /** * Description * @method _projectToAxis * @private * @param {} projection * @param {} vertices * @param {} axis */ var _projectToAxis = function(projection, vertices, axis) { var min = Vector.dot(vertices[0], axis), max = min; for (var i = 1; i < vertices.length; i += 1) { var dot = Vector.dot(vertices[i], axis); if (dot > max) { max = dot; } else if (dot < min) { min = dot; } } projection.min = min; projection.max = max; }; /** * Description * @method _findSupports * @private * @param {} bodyA * @param {} bodyB * @param {} normal * @return ArrayExpression */ var _findSupports = function(bodyA, bodyB, normal) { var nearestDistance = Number.MAX_VALUE, vertexToBody = { x: 0, y: 0 }, vertices = bodyB.vertices, bodyAPosition = bodyA.position, distance, vertex, vertexA = vertices[0], vertexB = vertices[1]; // find closest vertex on bodyB for (var i = 0; i < vertices.length; i++) { vertex = vertices[i]; vertexToBody.x = vertex.x - bodyAPosition.x; vertexToBody.y = vertex.y - bodyAPosition.y; distance = -Vector.dot(normal, vertexToBody); if (distance < nearestDistance) { nearestDistance = distance; vertexA = vertex; } } // find next closest vertex using the two connected to it var prevIndex = vertexA.index - 1 >= 0 ? vertexA.index - 1 : vertices.length - 1; vertex = vertices[prevIndex]; vertexToBody.x = vertex.x - bodyAPosition.x; vertexToBody.y = vertex.y - bodyAPosition.y; nearestDistance = -Vector.dot(normal, vertexToBody); vertexB = vertex; var nextIndex = (vertexA.index + 1) % vertices.length; vertex = vertices[nextIndex]; vertexToBody.x = vertex.x - bodyAPosition.x; vertexToBody.y = vertex.y - bodyAPosition.y; distance = -Vector.dot(normal, vertexToBody); if (distance < nearestDistance) { nearestDistance = distance; vertexB = vertex; } return [vertexA, vertexB]; }; })(); ; // End src/collision/SAT.js // Begin src/constraint/Constraint.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Constraint */ // TODO: fix instabillity issues with torque // TODO: linked constraints // TODO: breakable constraints // TODO: collidable constraints // TODO: allow constrained bodies to sleep // TODO: handle 0 length constraints properly // TODO: impulse caching and warming var Constraint = {}; (function() { var _minLength = 0.000001; /** * Description * @method create * @param {} options * @return {constraint} constraint */ Constraint.create = function(options) { var constraint = options; // if bodies defined but no points, use body centre if (constraint.bodyA && !constraint.pointA) constraint.pointA = { x: 0, y: 0 }; if (constraint.bodyB && !constraint.pointB) constraint.pointB = { x: 0, y: 0 }; // calculate static length using initial world space points var initialPointA = constraint.bodyA ? Vector.add(constraint.bodyA.position, constraint.pointA) : constraint.pointA, initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB, length = Vector.magnitude(Vector.sub(initialPointA, initialPointB)); constraint.length = constraint.length || length || _minLength; // option defaults constraint.lineWidth = constraint.lineWidth || 2; constraint.strokeStyle = constraint.strokeStyle || '#666'; constraint.stiffness = constraint.stiffness || 1; constraint.angularStiffness = constraint.angularStiffness || 0; constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA; constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB; return constraint; }; /** * Description * @method updateAll * @param {constraint[]} constraints */ Constraint.updateAll = function(constraints) { for (var i = 0; i < constraints.length; i++) { Constraint.update(constraints[i]); } }; /** * Description * @method update * @param {constraint} constraint */ Constraint.update = function(constraint) { var bodyA = constraint.bodyA, bodyB = constraint.bodyB, pointA = constraint.pointA, pointB = constraint.pointB; // update reference angle if (bodyA && !bodyA.isStatic) { constraint.pointA = Vector.rotate(pointA, bodyA.angle - constraint.angleA); constraint.angleA = bodyA.angle; } // update reference angle if (bodyB && !bodyB.isStatic) { constraint.pointB = Vector.rotate(pointB, bodyB.angle - constraint.angleB); constraint.angleB = bodyB.angle; } var pointAWorld = pointA, pointBWorld = pointB; if (bodyA) pointAWorld = Vector.add(bodyA.position, pointA); if (bodyB) pointBWorld = Vector.add(bodyB.position, pointB); if (!pointAWorld || !pointBWorld) return; var delta = Vector.sub(pointAWorld, pointBWorld), currentLength = Vector.magnitude(delta); // prevent singularity if (currentLength === 0) currentLength = _minLength; // solve distance constraint with Gauss-Siedel method var difference = (currentLength - constraint.length) / currentLength, normal = Vector.div(delta, currentLength), force = Vector.mult(delta, difference * 0.5 * constraint.stiffness); var velocityPointA, velocityPointB, offsetA, offsetB, oAn, oBn, bodyADenom, bodyBDenom; if (bodyA && !bodyA.isStatic) { // point body offset offsetA = { x: pointAWorld.x - bodyA.position.x + force.x, y: pointAWorld.y - bodyA.position.y + force.y }; // update velocity bodyA.velocity.x = bodyA.position.x - bodyA.positionPrev.x; bodyA.velocity.y = bodyA.position.y - bodyA.positionPrev.y; bodyA.angularVelocity = bodyA.angle - bodyA.anglePrev; // find point velocity and body mass velocityPointA = Vector.add(bodyA.velocity, Vector.mult(Vector.perp(offsetA), bodyA.angularVelocity)); oAn = Vector.dot(offsetA, normal); bodyADenom = bodyA.inverseMass + bodyA.inverseInertia * oAn * oAn; } else { velocityPointA = { x: 0, y: 0 }; bodyADenom = bodyA ? bodyA.inverseMass : 0; } if (bodyB && !bodyB.isStatic) { // point body offset offsetB = { x: pointBWorld.x - bodyB.position.x - force.x, y: pointBWorld.y - bodyB.position.y - force.y }; // update velocity bodyB.velocity.x = bodyB.position.x - bodyB.positionPrev.x; bodyB.velocity.y = bodyB.position.y - bodyB.positionPrev.y; bodyB.angularVelocity = bodyB.angle - bodyB.anglePrev; // find point velocity and body mass velocityPointB = Vector.add(bodyB.velocity, Vector.mult(Vector.perp(offsetB), bodyB.angularVelocity)); oBn = Vector.dot(offsetB, normal); bodyBDenom = bodyB.inverseMass + bodyB.inverseInertia * oBn * oBn; } else { velocityPointB = { x: 0, y: 0 }; bodyBDenom = bodyB ? bodyB.inverseMass : 0; } var relativeVelocity = Vector.sub(velocityPointB, velocityPointA), normalImpulse = Vector.dot(normal, relativeVelocity) / (bodyADenom + bodyBDenom); if (normalImpulse > 0) normalImpulse = 0; var normalVelocity = { x: normal.x * normalImpulse, y: normal.y * normalImpulse }; var torque; if (bodyA && !bodyA.isStatic) { torque = Vector.cross(offsetA, normalVelocity) * bodyA.inverseInertia * (1 - constraint.angularStiffness); Sleeping.set(bodyA, false); // clamp to prevent instabillity // TODO: solve this properlly torque = Common.clamp(torque, -0.01, 0.01); // apply forces bodyA.position.x -= force.x; bodyA.position.y -= force.y; bodyA.angle += torque; // update geometry Vertices.translate(bodyA.vertices, force, -1); Vertices.rotate(bodyA.vertices, torque, bodyA.position); Axes.rotate(bodyA.axes, torque); Bounds.update(bodyA.bounds, bodyA.vertices, bodyA.velocity); } if (bodyB && !bodyB.isStatic) { torque = Vector.cross(offsetB, normalVelocity) * bodyB.inverseInertia * (1 - constraint.angularStiffness); Sleeping.set(bodyB, false); // clamp to prevent instabillity // TODO: solve this properlly torque = Common.clamp(torque, -0.01, 0.01); // apply forces bodyB.position.x += force.x; bodyB.position.y += force.y; bodyB.angle -= torque; // update geometry Vertices.translate(bodyB.vertices, force); Vertices.rotate(bodyB.vertices, -torque, bodyB.position); Axes.rotate(bodyB.axes, -torque); Bounds.update(bodyB.bounds, bodyB.vertices, bodyB.velocity); } }; })(); ; // End src/constraint/Constraint.js // Begin src/constraint/MouseConstraint.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class MouseConstraint */ var MouseConstraint = {}; (function() { /** * Description * @method create * @param {mouse} mouse * @return {MouseConstraint} A new MouseConstraint */ MouseConstraint.create = function(mouse) { var constraint = Constraint.create({ pointA: mouse.position, pointB: { x: 0, y: 0 }, length: 0.01, stiffness: 0.1, angularStiffness: 1, strokeStyle: 'lightgreen', lineWidth: 3 }); return { mouse: mouse, dragBody: null, dragPoint: null, constraints: [constraint] }; }; /** * Description * @method update * @param {MouseConstraint} mouseConstraint * @param {body[]} bodies */ MouseConstraint.update = function(mouseConstraint, bodies) { var mouse = mouseConstraint.mouse, constraint = mouseConstraint.constraints[0]; if (mouse.button === 0 || mouse.button === 2) { if (!constraint.bodyB) { for (var i = 0; i < bodies.length; i++) { var body = bodies[i]; if (Bounds.contains(body.bounds, mouse.position) && Vertices.contains(body.vertices, mouse.position)) { constraint.pointA = mouse.position; constraint.bodyB = body; constraint.pointB = { x: mouse.position.x - body.position.x, y: mouse.position.y - body.position.y }; constraint.angleB = body.angle; Sleeping.set(body, false); } } } } else { constraint.bodyB = null; constraint.pointB = null; } if (constraint.bodyB) { Sleeping.set(constraint.bodyB, false); constraint.pointA = mouse.position; } }; })(); ; // End src/constraint/MouseConstraint.js // Begin src/core/Common.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Common */ var Common = {}; (function() { /** * Description * @method extend * @param {} obj, obj, obj... * @return {} obj extended */ Common.extend = function(obj) { var args = Array.prototype.slice.call(arguments, 1); for (var i = 0; i < args.length; i++) { var source = args[i]; if (source) { for (var prop in source) { if (source[prop].constructor === Object) { if (!obj[prop] || obj[prop].constructor === Object) { obj[prop] = obj[prop] || {}; Common.extend(obj[prop], source[prop]); } else { obj[prop] = source[prop]; } } else { obj[prop] = source[prop]; } } } } return obj; }; /** * Description * @method keys * @param {} obj * @return {string[]} keys */ Common.keys = function(obj) { if (Object.keys) return Object.keys(obj); // avoid hasOwnProperty for performance var keys = []; for (var key in obj) keys.push(key); return keys; }; /** * Description * @method values * @param {} obj * @return {array} Array of the objects property values */ Common.values = function(obj) { var values = []; if (Object.keys) { var keys = Object.keys(obj); for (var i = 0; i < keys.length; i++) { values.push(obj[keys[i]]); } return values; } // avoid hasOwnProperty for performance for (var key in obj) values.push(obj[key]); return values; }; /** * Description * @method shadeColor * @param {string} color * @param {number} percent * @return {string} A hex colour string made by lightening or darkening color by percent */ Common.shadeColor = function(color, percent) { // http://stackoverflow.com/questions/5560248/programmatically-lighten-or-darken-a-hex-color var colorInteger = parseInt(color.slice(1),16), amount = Math.round(2.55 * percent), R = (colorInteger >> 16) + amount, B = (colorInteger >> 8 & 0x00FF) + amount, G = (colorInteger & 0x0000FF) + amount; return "#" + (0x1000000 + (R < 255 ? R < 1 ? 0 : R :255) * 0x10000 + (B < 255 ? B < 1 ? 0 : B : 255) * 0x100 + (G < 255 ? G < 1 ? 0 : G : 255)).toString(16).slice(1); }; /** * Description * @method shuffle * @param {array} array * @return {array} array shuffled randomly */ Common.shuffle = function(array) { for (var i = array.length - 1; i > 0; i--) { var j = Math.floor(Math.random() * (i + 1)); var temp = array[i]; array[i] = array[j]; array[j] = temp; } return array; }; /** * Description * @method choose * @param {array} choices * @return {object} A random choice object from the array */ Common.choose = function(choices) { return choices[Math.floor(Math.random() * choices.length)]; }; /** * Description * @method isElement * @param {object} obj * @return {boolean} True if the object is a HTMLElement, otherwise false */ Common.isElement = function(obj) { // http://stackoverflow.com/questions/384286/javascript-isdom-how-do-you-check-if-a-javascript-object-is-a-dom-object try { return obj instanceof HTMLElement; } catch(e){ return (typeof obj==="object") && (obj.nodeType===1) && (typeof obj.style === "object") && (typeof obj.ownerDocument ==="object"); } }; /** * Description * @method clamp * @param {number} value * @param {number} min * @param {number} max * @return {number} The value clamped between min and max inclusive */ Common.clamp = function(value, min, max) { if (value < min) return min; if (value > max) return max; return value; }; /** * Description * @method sign * @param {number} value * @return {number} -1 if negative, +1 if 0 or positive */ Common.sign = function(value) { return value < 0 ? -1 : 1; }; /** * Description * @method now * @return {Date} the current DateTime */ Common.now = Date.now || function() { // http://stackoverflow.com/questions/221294/how-do-you-get-a-timestamp-in-javascript return +(new Date()); }; /** * Description * @method random * @param {number} min * @param {number} max * @return {number} A random number between min and max inclusive */ Common.random = function(min, max) { return min + Math.random() * (max - min); }; })(); ; // End src/core/Common.js // Begin src/core/Engine.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Engine */ // TODO: multiple event handlers, before & after handlers // TODO: viewports // TODO: frameskipping var Engine = {}; (function() { var _fps = 60, _deltaSampleSize = 8, _delta = 1000 / _fps; var _requestAnimationFrame = window.requestAnimationFrame || window.webkitRequestAnimationFrame || window.mozRequestAnimationFrame || window.msRequestAnimationFrame || function(callback){ window.setTimeout(function() { callback(Common.now()); }, _delta); }; /** * Description * @method create * @param {HTMLElement} element * @param {object} options * @return {engine} engine */ Engine.create = function(element, options) { var defaults = { enabled: true, positionIterations: 6, velocityIterations: 4, constraintIterations: 1, pairs: {}, pairsList: [], enableSleeping: false, timeScale: 1, input: {}, timing: { fps: _fps, timestamp: 0, delta: _delta, correction: 1, deltaMin: 1000 / _fps, deltaMax: 1000 / (_fps * 0.5) } }; var engine = Common.extend(defaults, options); engine = Common.isElement(element) ? (engine || {}) : element; // create default renderer only if no custom renderer set // but still allow engine.render.engine to pass through if set if (!engine.render || (engine.render && !engine.render.controller)) { engine.render = Render.create(engine.render); if (Common.isElement(element)) element.appendChild(engine.render.canvas); } engine.world = World.create(engine.world); engine.metrics = engine.metrics || Metrics.create(); engine.input.mouse = engine.input.mouse || Mouse.create(engine.render.canvas); engine.mouseConstraint = engine.mouseConstraint || MouseConstraint.create(engine.input.mouse); World.addComposite(engine.world, engine.mouseConstraint); engine.broadphase = engine.broadphase || { current: 'grid', grid: { controller: Grid, instance: Grid.create(), detector: Detector.collisions }, bruteForce: { detector: Detector.bruteForce } }; engine.events = { tick: function(engine) { Engine.update(engine, engine.timing.delta, engine.timing.correction); }, render: function(engine) { if (engine.render.options.enabled) engine.render.controller.world(engine); } }; return engine; }; /** * Description * @method run * @param {engine} engine */ Engine.run = function(engine) { var timing = engine.timing, delta, counterTimestamp = 0, frameCounter = 0, deltaHistory = []; (function render(timestamp){ _requestAnimationFrame(render); if (!engine.enabled) return; delta = (timestamp - timing.timestamp) || _delta; // optimistically filter delta over a few frames, to improve stability deltaHistory.push(delta); deltaHistory = deltaHistory.slice(-_deltaSampleSize); delta = Math.min.apply(null, deltaHistory); // limit delta delta = delta < engine.timing.deltaMin ? engine.timing.deltaMin : delta; delta = delta > engine.timing.deltaMax ? engine.timing.deltaMax : delta; timing.timestamp = timestamp; timing.correction = delta / timing.delta; timing.delta = delta; frameCounter += 1; if (timestamp - counterTimestamp >= 1000) { timing.fps = frameCounter * ((timestamp - counterTimestamp) / 1000); counterTimestamp = timestamp; frameCounter = 0; } engine.events.tick(engine); engine.events.render(engine); })(); }; /** * Description * @method update * @param {engine} engine * @param {number} delta * @param {number} correction * @return engine */ Engine.update = function(engine, delta, correction) { var world = engine.world, broadphase = engine.broadphase[engine.broadphase.current], broadphasePairs = [], i; Body.resetForcesAll(world.bodies, world.gravity); Metrics.reset(engine.metrics); MouseConstraint.update(engine.mouseConstraint, world.bodies, engine.input); Body.updateAll(world.bodies, delta * engine.timeScale, correction, world.bounds); for (i = 0; i < engine.constraintIterations; i++) { Constraint.updateAll(world.constraints); } if (broadphase.controller) { broadphase.controller.update(broadphase.instance, world.bodies, engine); broadphasePairs = broadphase.instance.pairsList; } else { broadphasePairs = world.bodies; } var pairsUpdated = Manager.updatePairs(engine.pairs, engine.pairsList, broadphasePairs, engine.metrics, broadphase.detector), pairsRemoved = Manager.removeOldPairs(engine.pairs, engine.pairsList); if (pairsUpdated || pairsRemoved) engine.pairsList = Common.values(engine.pairs); // wake up bodies involved in collisions if (engine.enableSleeping) Sleeping.afterCollisions(engine.pairsList); // iteratively resolve velocity between collisions Resolver.preSolveVelocity(engine.pairsList); for (i = 0; i < engine.velocityIterations; i++) { Resolver.solveVelocity(engine.pairsList); } // iteratively resolve position between collisions for (i = 0; i < engine.positionIterations; i++) { Resolver.solvePosition(engine.pairsList); } Resolver.postSolvePosition(world.bodies); if (engine.enableSleeping) Sleeping.update(world.bodies); Metrics.update(engine.metrics, engine); return engine; }; /** * Description * @method merge * @param {engine} engineA * @param {engine} engineB */ Engine.merge = function(engineA, engineB) { Common.extend(engineA, engineB); if (engineB.world) { engineA.world = engineB.world; Engine.clear(engineA); var bodies = engineA.world.bodies; for (var i = 0; i < bodies.length; i++) { var body = bodies[i]; Sleeping.set(body, false); body.id = Body.nextId(); } var broadphase = engineA.broadphase[engineA.broadphase.current]; if (broadphase.controller === Grid) { var grid = broadphase.instance; Grid.clear(grid); Grid.update(grid, engineA.world.bodies, engineA, true); } } }; /** * Description * @method clear * @param {engine} engine */ Engine.clear = function(engine) { var world = engine.world; engine.pairs = {}; engine.pairsList = []; World.addComposite(engine.world, engine.mouseConstraint); var broadphase = engine.broadphase[engine.broadphase.current]; if (broadphase.controller === Grid) Grid.clear(broadphase.instance); if (broadphase.controller) { broadphase.controller.update(broadphase.instance, world.bodies, engine, true); } }; })(); ; // End src/core/Engine.js // Begin src/core/Metrics.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Metrics */ var Metrics = {}; (function() { /** * Description * @method create * @return {metrics} A new metrics */ Metrics.create = function() { return { narrowDetections: 0, narrowphaseTests: 0, midphaseTests: 0, broadphaseTests: 0, narrowEff: 0.0001, midEff: 0.0001, broadEff: 0.0001, collisions: 0, buckets: 0, bodies: 0, pairs: 0 }; }; /** * Description * @method reset * @param {metrics} metrics */ Metrics.reset = function(metrics) { metrics.narrowDetections = 0; metrics.narrowphaseTests = 0; metrics.midphaseTests = 0; metrics.broadphaseTests = 0; metrics.narrowEff = 0; metrics.midEff = 0; metrics.broadEff = 0; metrics.collisions = 0; metrics.buckets = 0; metrics.pairs = 0; metrics.bodies = 0; }; /** * Description * @method update * @param {metrics} metrics * @param {engine} engine */ Metrics.update = function(metrics, engine) { var world = engine.world, broadphase = engine.broadphase[engine.broadphase.current]; metrics.collisions = metrics.narrowDetections; metrics.pairs = engine.pairsList.length; metrics.bodies = world.bodies.length; metrics.midEff = (metrics.narrowDetections / (metrics.midphaseTests || 1)).toFixed(2); metrics.narrowEff = (metrics.narrowDetections / (metrics.narrowphaseTests || 1)).toFixed(2); metrics.broadEff = (1 - (metrics.broadphaseTests / (world.bodies.length || 1))).toFixed(2); if (broadphase.instance) metrics.buckets = Common.keys(broadphase.instance.buckets).length; }; })(); ; // End src/core/Metrics.js // Begin src/core/Mouse.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Mouse */ var Mouse; (function() { /** * Description * @param {HTMLElement} element */ Mouse = function(element) { var mouse = this; element = element || document.body; this.position = { x: 0, y: 0 }; this.mousedownPosition = { x: 0, y: 0 }; this.mouseupPosition = { x: 0, y: 0 }; this.button = -1; var mousemove = function(event) { var position = _getRelativeMousePosition(event, element), touches = event.changedTouches; if (touches) { mouse.button = 0; event.preventDefault(); } mouse.position = position; }; var mousedown = function(event) { var position = _getRelativeMousePosition(event, element), touches = event.changedTouches; if (touches) { mouse.button = 0; event.preventDefault(); } else { mouse.button = event.button; } mouse.position = mouse.mousedownPosition = position; }; var mouseup = function(event) { var position = _getRelativeMousePosition(event, element), touches = event.changedTouches; if (touches) { event.preventDefault(); } mouse.button = -1; mouse.position = mouse.mouseupPosition = position; }; element.addEventListener('mousemove', mousemove); element.addEventListener('mousedown', mousedown); element.addEventListener('mouseup', mouseup); element.addEventListener('touchmove', mousemove); element.addEventListener('touchstart', mousedown); element.addEventListener('touchend', mouseup); }; /** * Description * @method create * @param {HTMLElement} element * @return {mouse} A new mouse */ Mouse.create = function(element) { return new Mouse(element); }; /** * Description * @method _getRelativeMousePosition * @private * @param {} event * @param {} element * @return ObjectExpression */ var _getRelativeMousePosition = function(event, element) { var elementBounds = element.getBoundingClientRect(), scrollX = (window.pageXOffset !== undefined) ? window.pageXOffset : (document.documentElement || document.body.parentNode || document.body).scrollLeft, scrollY = (window.pageYOffset !== undefined) ? window.pageYOffset : (document.documentElement || document.body.parentNode || document.body).scrollTop, touches = event.changedTouches, x, y; if (touches) { x = touches[0].pageX - elementBounds.left - scrollX; y = touches[0].pageY - elementBounds.top - scrollY; } else { x = event.pageX - elementBounds.left - scrollX; y = event.pageY - elementBounds.top - scrollY; } return { x: x / (element.clientWidth / element.width), y: y / (element.clientHeight / element.height) }; }; })(); ; // End src/core/Mouse.js // Begin src/core/Sleeping.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Sleeping */ var Sleeping = {}; (function() { var _motionWakeThreshold = 0.18, _motionSleepThreshold = 0.08, _minBias = 0.9; /** * Description * @method update * @param {body[]} bodies */ Sleeping.update = function(bodies) { // update bodies sleeping status for (var i = 0; i < bodies.length; i++) { var body = bodies[i], motion = body.speed * body.speed + body.angularSpeed * body.angularSpeed; var minMotion = Math.min(body.motion, motion), maxMotion = Math.max(body.motion, motion); // biased average motion estimation between frames body.motion = _minBias * minMotion + (1 - _minBias) * maxMotion; if (body.sleepThreshold > 0 && body.motion < _motionSleepThreshold) { body.sleepCounter += 1; if (body.sleepCounter >= body.sleepThreshold) Sleeping.set(body, true); } else if (body.sleepCounter > 0) { body.sleepCounter -= 1; } } }; /** * Description * @method afterCollisions * @param {pair[]} pairs */ Sleeping.afterCollisions = function(pairs) { // wake up bodies involved in collisions for (var i = 0; i < pairs.length; i++) { var pair = pairs[i], collision = pair.collision, bodyA = collision.bodyA, bodyB = collision.bodyB; if ((bodyA.isSleeping && bodyB.isSleeping) || bodyA.isStatic || bodyB.isStatic) continue; if (bodyA.isSleeping || bodyB.isSleeping) { var sleepingBody = (bodyA.isSleeping && !bodyA.isStatic) ? bodyA : bodyB, movingBody = sleepingBody === bodyA ? bodyB : bodyA; if (!sleepingBody.isStatic && movingBody.motion > _motionWakeThreshold) { Sleeping.set(sleepingBody, false); } } } }; /** * Description * @method set * @param {body} body * @param {boolean} isSleeping */ Sleeping.set = function(body, isSleeping) { if (isSleeping) { body.isSleeping = true; body.sleepCounter = body.sleepThreshold; body.positionImpulse.x = 0; body.positionImpulse.y = 0; body.positionPrev.x = body.position.x; body.positionPrev.y = body.position.y; body.anglePrev = body.angle; body.speed = 0; body.angularSpeed = 0; body.motion = 0; } else { body.isSleeping = false; body.sleepCounter = 0; } }; })(); ; // End src/core/Sleeping.js // Begin src/factory/Bodies.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Bodies */ // TODO: true circle bodies var Bodies = {}; (function() { /** * Description * @method rectangle * @param {number} x * @param {number} y * @param {number} width * @param {number} height * @param {object} options * @return {body} A new rectangle body */ Bodies.rectangle = function(x, y, width, height, options) { options = options || {}; var rectangle = { position: { x: x, y: y }, path: 'L 0 0 L ' + width + ' 0 L ' + width + ' ' + height + ' L 0 ' + height }; return Body.create(Common.extend({}, rectangle, options)); }; /** * Description * @method trapezoid * @param {number} x * @param {number} y * @param {number} width * @param {number} height * @param {number} slope * @param {object} options * @return {body} A new trapezoid body */ Bodies.trapezoid = function(x, y, width, height, slope, options) { options = options || {}; slope *= 0.5; var roof = (1 - (slope * 2)) * width; var x1 = width * slope, x2 = x1 + roof, x3 = x2 + x1; var trapezoid = { position: { x: x, y: y }, path: 'L 0 0 L ' + x1 + ' ' + (-height) + ' L ' + x2 + ' ' + (-height) + ' L ' + x3 + ' 0' }; return Body.create(Common.extend({}, trapezoid, options)); }; /** * Description * @method circle * @param {number} x * @param {number} y * @param {number} radius * @param {object} options * @param {number} maxSides * @return {body} A new circle body */ Bodies.circle = function(x, y, radius, options, maxSides) { options = options || {}; // approximate circles with polygons until true circles implemented in SAT maxSides = maxSides || 25; var sides = Math.ceil(Math.max(10, Math.min(maxSides, radius))); // optimisation: always use even number of sides (half the number of unique axes) if (sides % 2 === 1) sides += 1; // flag for better rendering options.circleRadius = radius; return Bodies.polygon(x, y, sides, radius, options); }; /** * Description * @method polygon * @param {number} x * @param {number} y * @param {number} sides * @param {number} radius * @param {object} options * @return {body} A new regular polygon body */ Bodies.polygon = function(x, y, sides, radius, options) { options = options || {}; if (sides < 3) return Bodies.circle(x, y, radius, options); var theta = 2 * Math.PI / sides, path = '', offset = theta * 0.5; for (var i = 0; i < sides; i += 1) { var angle = offset + (i * theta), xx = Math.cos(angle) * radius, yy = Math.sin(angle) * radius; path += 'L ' + xx.toFixed(3) + ' ' + yy.toFixed(3) + ' '; } var polygon = { position: { x: x, y: y }, path: path }; return Body.create(Common.extend({}, polygon, options)); }; })(); ; // End src/factory/Bodies.js // Begin src/factory/Composites.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Composites */ var Composites = {}; (function() { /** * Description * @method stack * @param {number} xx * @param {number} yy * @param {number} columns * @param {number} rows * @param {number} columnGap * @param {number} rowGap * @param {function} callback * @return {composite} A new composite containing objects created in the callback */ Composites.stack = function(xx, yy, columns, rows, columnGap, rowGap, callback) { var stack = Composite.create(), x = xx, y = yy, lastBody, i = 0; for (var row = 0; row < rows; row++) { var maxHeight = 0; for (var column = 0; column < columns; column++) { var body = callback(x, y, column, row, lastBody, i); if (body) { var bodyHeight = body.bounds.max.y - body.bounds.min.y, bodyWidth = body.bounds.max.x - body.bounds.min.x; if (bodyHeight > maxHeight) maxHeight = bodyHeight; Body.translate(body, { x: bodyWidth * 0.5, y: bodyHeight * 0.5 }); x = body.bounds.max.x + columnGap; Composite.addBody(stack, body); lastBody = body; i += 1; } } y += maxHeight + rowGap; x = xx; } return stack; }; /** * Description * @method chain * @param {composite} composite * @param {number} xOffsetA * @param {number} yOffsetA * @param {number} xOffsetB * @param {number} yOffsetB * @param {object} options * @return {composite} A new composite containing objects chained together with constraints */ Composites.chain = function(composite, xOffsetA, yOffsetA, xOffsetB, yOffsetB, options) { var bodies = composite.bodies; for (var i = 1; i < bodies.length; i++) { var bodyA = bodies[i - 1], bodyB = bodies[i], bodyAHeight = bodyA.bounds.max.y - bodyA.bounds.min.y, bodyAWidth = bodyA.bounds.max.x - bodyA.bounds.min.x, bodyBHeight = bodyB.bounds.max.y - bodyB.bounds.min.y, bodyBWidth = bodyB.bounds.max.x - bodyB.bounds.min.x; var defaults = { bodyA: bodyA, pointA: { x: bodyAWidth * xOffsetA, y: bodyAHeight * yOffsetA }, bodyB: bodyB, pointB: { x: bodyBWidth * xOffsetB, y: bodyBHeight * yOffsetB } }; var constraint = Common.extend(defaults, options); Composite.addConstraint(composite, Constraint.create(constraint)); } return composite; }; /** * Description * @method pyramid * @param {number} xx * @param {number} yy * @param {number} columns * @param {number} rows * @param {number} columnGap * @param {number} rowGap * @param {function} callback * @return {composite} A new composite containing objects created in the callback */ Composites.pyramid = function(xx, yy, columns, rows, columnGap, rowGap, callback) { return Composites.stack(xx, yy, columns, rows, columnGap, rowGap, function(x, y, column, row, lastBody, i) { var actualRows = Math.min(rows, Math.ceil(columns / 2)), lastBodyWidth = lastBody ? lastBody.bounds.max.x - lastBody.bounds.min.x : 0; if (row > actualRows) return; // reverse row order row = actualRows - row; var start = row, end = columns - 1 - row; if (column < start || column > end) return; // retroactively fix the first body's position, since width was unknown if (i === 1) { Body.translate(lastBody, { x: (column + (columns % 2 === 1 ? 1 : -1)) * lastBodyWidth, y: 0 }); } var xOffset = lastBody ? column * lastBodyWidth : 0; return callback(xx + xOffset + column * columnGap, y, column, row, lastBody, i); }); }; /** * Description * @method newtonsCradle * @param {number} xx * @param {number} yy * @param {number} number * @param {number} size * @param {number} length * @return {composite} A new composite newtonsCradle body */ Composites.newtonsCradle = function(xx, yy, number, size, length) { var newtonsCradle = Composite.create(); for (var i = 0; i < number; i++) { var separation = 1.9, circle = Bodies.circle(xx + i * (size * separation), yy + length, size, { restitution: 1, friction: 0, frictionAir: 0.0001, slop: 0.01 }), constraint = Constraint.create({ pointA: { x: xx + i * (size * separation), y: yy }, bodyB: circle }); Composite.addBody(newtonsCradle, circle); Composite.addConstraint(newtonsCradle, constraint); } return newtonsCradle; }; /** * Description * @method car * @param {number} xx * @param {number} yy * @param {number} width * @param {number} height * @param {number} wheelSize * @return {composite} A new composite car body */ Composites.car = function(xx, yy, width, height, wheelSize) { var groupId = Body.nextGroupId(), wheelBase = -20, wheelAOffset = -width * 0.5 + wheelBase, wheelBOffset = width * 0.5 - wheelBase, wheelYOffset = 0; var car = Composite.create(), body = Bodies.trapezoid(xx, yy, width, height, 0.3, { groupId: groupId, friction: 0.01 }); var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, { groupId: groupId, restitution: 0.5, friction: 0.9, density: 0.01 }); var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, { groupId: groupId, restitution: 0.5, friction: 0.9, density: 0.01 }); var axelA = Constraint.create({ bodyA: body, pointA: { x: wheelAOffset, y: wheelYOffset }, bodyB: wheelA, stiffness: 0.5 }); var axelB = Constraint.create({ bodyA: body, pointA: { x: wheelBOffset, y: wheelYOffset }, bodyB: wheelB, stiffness: 0.5 }); Composite.addBody(car, body); Composite.addBody(car, wheelA); Composite.addBody(car, wheelB); Composite.addConstraint(car, axelA); Composite.addConstraint(car, axelB); return car; }; })(); ; // End src/factory/Composites.js // Begin src/geometry/Axes.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Axes */ var Axes = {}; (function() { /** * Description * @method fromVertices * @param {vertices} vertices * @return {axes} A new axes from the given vertices */ Axes.fromVertices = function(vertices) { var axes = {}; // find the unique axes, using edge normal gradients for (var i = 0; i < vertices.length; i++) { var j = (i + 1) % vertices.length, normal = Vector.normalise({ x: vertices[j].y - vertices[i].y, y: vertices[i].x - vertices[j].x }), gradient = (normal.y === 0) ? Infinity : (normal.x / normal.y); // limit precision gradient = gradient.toFixed(3).toString(); axes[gradient] = normal; } return Common.values(axes); }; /** * Description * @method rotate * @param {axes} axes * @param {number} angle */ Axes.rotate = function(axes, angle) { if (angle === 0) return; var cos = Math.cos(angle), sin = Math.sin(angle); for (var i = 0; i < axes.length; i++) { var axis = axes[i], xx; xx = axis.x * cos - axis.y * sin; axis.y = axis.x * sin + axis.y * cos; axis.x = xx; } }; })(); ; // End src/geometry/Axes.js // Begin src/geometry/Bounds.js /** * _Internal Class_, not generally used outside of the engine's internals. * * @class Bounds */ var Bounds = {}; (function() { /** * Description * @method create * @param {vertices} vertices * @return {bounds} A new bounds object */ Bounds.create = function(vertices) { var bounds = { min: { x: 0, y: 0 }, max: { x: 0, y: 0 } }; Bounds.update(bounds, vertices); return bounds; }; /** * Description * @method update * @param {bounds} bounds * @param {vertices} vertices * @param {vector} velocity */ Bounds.update = function(bounds, vertices, velocity) { bounds.min.x = Number.MAX_VALUE; bounds.max.x = Number.MIN_VALUE; bounds.min.y = Number.MAX_VALUE; bounds.max.y = Number.MIN_VALUE; for (var i = 0; i < vertices.length; i++) { var vertex = vertices[i]; if (vertex.x > bounds.max.x) bounds.max.x = vertex.x; if (vertex.x < bounds.min.x) bounds.min.x = vertex.x; if (vertex.y > bounds.max.y) bounds.max.y = vertex.y; if (vertex.y < bounds.min.y) bounds.min.y = vertex.y; } if (velocity) { if (velocity.x > 0) { bounds.max.x += velocity.x; } else { bounds.min.x += velocity.x; } if (velocity.y > 0) { bounds.max.y += velocity.y; } else { bounds.min.y += velocity.y; } } }; /** * Description * @method contains * @param {bounds} bounds * @param {vector} point * @return {boolean} True if the bounds contain the point, otherwise false */ Bounds.contains = function(bounds, point) { return point.x >= bounds.min.x && point.x <= bounds.max.x && point.y >= bounds.min.y && point.y <= bounds.max.y; }; /** * Description * @method overlaps * @param {bounds} boundsA * @param {bounds} boundsB * @return {boolean} True if the bounds overlap, otherwise false */ Bounds.overlaps = function(boundsA, boundsB) { return (boundsA.min.x <= boundsB.max.x && boundsA.max.x >= boundsB.min.x && boundsA.max.y >= boundsB.min.y && boundsA.min.y <= boundsB.max.y); }; })(); ; // End src/geometry/Bounds.js // Begin src/geometry/Vector.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Vector */ // TODO: consider params for reusing vector objects var Vector = {}; (function() { /** * Description * @method magnitude * @param {vector} vector * @return {number} The magnitude of the vector */ Vector.magnitude = function(vector) { return Math.sqrt((vector.x * vector.x) + (vector.y * vector.y)); }; /** * Description * @method magnitudeSquared * @param {vector} vector * @return {number} The squared magnitude of the vector */ Vector.magnitudeSquared = function(vector) { return (vector.x * vector.x) + (vector.y * vector.y); }; /** * Description * @method rotate * @param {vector} vector * @param {number} angle * @return {vector} A new vector rotated */ Vector.rotate = function(vector, angle) { var cos = Math.cos(angle), sin = Math.sin(angle); return { x: vector.x * cos - vector.y * sin, y: vector.x * sin + vector.y * cos }; }; /** * Description * @method rotateAbout * @param {vector} vector * @param {number} angle * @param {vector} point * @return {vector} A new vector rotated about the point */ Vector.rotateAbout = function(vector, angle, point) { var cos = Math.cos(angle), sin = Math.sin(angle); return { x: point.x + ((vector.x - point.x) * cos - (vector.y - point.y) * sin), y: point.y + ((vector.x - point.x) * sin + (vector.y - point.y) * cos) }; }; /** * Description * @method normalise * @param {vector} vector * @return {vector} A new vector normalised */ Vector.normalise = function(vector) { var magnitude = Vector.magnitude(vector); if (magnitude === 0) return { x: 0, y: 0 }; return { x: vector.x / magnitude, y: vector.y / magnitude }; }; /** * Description * @method dot * @param {vector} vectorA * @param {vector} vectorB * @return {number} The dot product of the two vectors */ Vector.dot = function(vectorA, vectorB) { return (vectorA.x * vectorB.x) + (vectorA.y * vectorB.y); }; /** * Description * @method cross * @param {vector} vectorA * @param {vector} vectorB * @return {number} The cross product of the two vectors */ Vector.cross = function(vectorA, vectorB) { return (vectorA.x * vectorB.y) - (vectorA.y * vectorB.x); }; /** * Description * @method add * @param {vector} vectorA * @param {vector} vectorB * @return {vector} A new vector added */ Vector.add = function(vectorA, vectorB) { return { x: vectorA.x + vectorB.x, y: vectorA.y + vectorB.y }; }; /** * Description * @method sub * @param {vector} vectorA * @param {vector} vectorB * @return {vector} A new vector subtracted */ Vector.sub = function(vectorA, vectorB) { return { x: vectorA.x - vectorB.x, y: vectorA.y - vectorB.y }; }; /** * Description * @method mult * @param {vector} vector * @param {number} scalar * @return {vector} A new vector multiplied by scalar */ Vector.mult = function(vector, scalar) { return { x: vector.x * scalar, y: vector.y * scalar }; }; /** * Description * @method div * @param {vector} vector * @param {number} scalar * @return {vector} A new vector divided by scalar */ Vector.div = function(vector, scalar) { return { x: vector.x / scalar, y: vector.y / scalar }; }; /** * Description * @method perp * @param {vector} vector * @param {bool} negate * @return {vector} The perpendicular vector */ Vector.perp = function(vector, negate) { negate = negate === true ? -1 : 1; return { x: negate * -vector.y, y: negate * vector.x }; }; /** * Description * @method neg * @param {vector} vector * @return {vector} The negated vector */ Vector.neg = function(vector) { return { x: -vector.x, y: -vector.y }; }; })(); ; // End src/geometry/Vector.js // Begin src/geometry/Vertices.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Vertices */ // TODO: convex decomposition - http://mnbayazit.com/406/bayazit var Vertices = {}; (function() { /** * Description * @method create * @param {vertices} vertices * @param {body} body */ Vertices.create = function(vertices, body) { for (var i = 0; i < vertices.length; i++) { vertices[i].index = i; vertices[i].body = body; } }; /** * Description * @method fromPath * @param {string} path * @return {vertices} vertices */ Vertices.fromPath = function(path) { var pathPattern = /L\s*([\-\d\.]*)\s*([\-\d\.]*)/ig, vertices = []; path.replace(pathPattern, function(match, x, y) { vertices.push({ x: parseFloat(x, 10), y: parseFloat(y, 10) }); }); return vertices; }; /** * Description * @method centre * @param {vertices} vertices * @return {vector} The centre point */ Vertices.centre = function(vertices) { var cx = 0, cy = 0; for (var i = 0; i < vertices.length; i++) { cx += vertices[i].x; cy += vertices[i].y; } return { x: cx / vertices.length, y: cy / vertices.length }; }; /** * Description * @method area * @param {vertices} vertices * @return {number} The area */ Vertices.area = function(vertices) { var area = 0, j = vertices.length - 1; for (var i = 0; i < vertices.length; i++) { area += (vertices[j].x - vertices[i].x) * (vertices[j].y + vertices[i].y); j = i; } return Math.abs(area) / 2; }; /** * Description * @method inertia * @param {vertices} vertices * @param {number} mass * @return {number} The polygon's moment of inertia, using second moment of area */ Vertices.inertia = function(vertices, mass) { var numerator = 0, denominator = 0, v = vertices, cross, j; // find the polygon's moment of inertia, using second moment of area // http://www.physicsforums.com/showthread.php?t=25293 for (var n = 0; n < v.length; n++) { j = (n + 1) % v.length; cross = Math.abs(Vector.cross(v[j], v[n])); numerator += cross * (Vector.dot(v[j], v[j]) + Vector.dot(v[j], v[n]) + Vector.dot(v[n], v[n])); denominator += cross; } return (mass / 6) * (numerator / denominator); }; /** * Description * @method translate * @param {vertices} vertices * @param {vector} vector * @param {number} scalar */ Vertices.translate = function(vertices, vector, scalar) { var i; if (scalar) { for (i = 0; i < vertices.length; i++) { vertices[i].x += vector.x * scalar; vertices[i].y += vector.y * scalar; } } else { for (i = 0; i < vertices.length; i++) { vertices[i].x += vector.x; vertices[i].y += vector.y; } } }; /** * Description * @method rotate * @param {vertices} vertices * @param {number} angle * @param {vector} point */ Vertices.rotate = function(vertices, angle, point) { if (angle === 0) return; var cos = Math.cos(angle), sin = Math.sin(angle); for (var i = 0; i < vertices.length; i++) { var vertice = vertices[i], dx = vertice.x - point.x, dy = vertice.y - point.y; vertice.x = point.x + (dx * cos - dy * sin); vertice.y = point.y + (dx * sin + dy * cos); } }; /** * Description * @method contains * @param {vertices} vertices * @param {vector} point * @return {boolean} True if the vertices contains point, otherwise false */ Vertices.contains = function(vertices, point) { for (var i = 0; i < vertices.length; i++) { var vertice = vertices[i], nextVertice = vertices[(i + 1) % vertices.length]; if ((point.x - vertice.x) * (nextVertice.y - vertice.y) + (point.y - vertice.y) * (vertice.x - nextVertice.x) > 0) { return false; } } return true; }; })(); ; // End src/geometry/Vertices.js // Begin src/render/Gui.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Gui */ var Gui = {}; (function() { /** * Description * @method create * @param {engine} engine * @param {object} options * @return {gui} A container for a configured dat.gui */ Gui.create = function(engine, options) { var _datGuiSupported = window.dat && window.localStorage, _serializer; if (!_datGuiSupported) { console.log("Could not create GUI. Check dat.gui library is loaded first."); return; } var datGui = new dat.GUI(options); if (Resurrect) { _serializer = new Resurrect({ prefix: '$' }); _serializer.parse = _serializer.resurrect; } else { _serializer = JSON; } var gui = { datGui: datGui, amount: 1, size: 40, sides: 4, density: 0.001, restitution: 0, friction: 0.1, frictionAir: 0.01 }; var funcs = { addBody: function() { var options = { density: gui.density, friction: gui.friction, frictionAir: gui.frictionAir, restitution: gui.restitution }; for (var i = 0; i < gui.amount; i++) { World.addBody(engine.world, Bodies.polygon(120 + i * gui.size + i * 50, 200, gui.sides, gui.size, options)); } }, clear: function() { World.clear(engine.world, true); Engine.clear(engine); }, save: function() { if (localStorage && _serializer) { localStorage.setItem('world', _serializer.stringify(engine.world)); } }, load: function() { var loadedWorld; if (localStorage && _serializer) { loadedWorld = _serializer.parse(localStorage.getItem('world')); } if (loadedWorld) { Engine.merge(engine, { world: loadedWorld }); } } }; var metrics = datGui.addFolder('Metrics'); metrics.add(engine.timing, 'fps').listen(); metrics.add(engine.timing, 'delta').listen(); metrics.add(engine.timing, 'correction').listen(); metrics.add(engine.metrics, 'bodies').listen(); metrics.add(engine.metrics, 'collisions').listen(); metrics.add(engine.metrics, 'pairs').listen(); metrics.add(engine.metrics, 'broadEff').listen(); metrics.add(engine.metrics, 'midEff').listen(); metrics.add(engine.metrics, 'narrowEff').listen(); metrics.close(); var controls = datGui.addFolder('Add Body'); controls.add(gui, 'amount', 1, 5).step(1); controls.add(gui, 'size', 5, 150).step(1); controls.add(gui, 'sides', 1, 8).step(1); controls.add(gui, 'density', 0.0001, 0.01).step(0.001); controls.add(gui, 'friction', 0, 1).step(0.05); controls.add(gui, 'frictionAir', 0, gui.frictionAir * 10).step(gui.frictionAir / 10); controls.add(gui, 'restitution', 0, 1).step(0.1); controls.add(funcs, 'addBody'); controls.open(); var worldGui = datGui.addFolder('World'); worldGui.add(funcs, 'load'); worldGui.add(funcs, 'save'); worldGui.add(funcs, 'clear'); worldGui.open(); var gravity = worldGui.addFolder('Gravity'); gravity.add(engine.world.gravity, 'x', -1, 1).step(0.01); gravity.add(engine.world.gravity, 'y', -1, 1).step(0.01); gravity.open(); var physics = datGui.addFolder('Engine'); physics.add(engine, 'enableSleeping'); physics.add(engine.broadphase, 'current', ['grid', 'bruteForce']); physics.add(engine, 'timeScale', 0.1, 2).step(0.1); physics.add(engine, 'velocityIterations', 1, 10).step(1); physics.add(engine, 'positionIterations', 1, 10).step(1); physics.add(engine, 'enabled'); physics.open(); var render = datGui.addFolder('Render'); render.add(engine.render.options, 'wireframes'); render.add(engine.render.options, 'showDebug'); render.add(engine.render.options, 'showPositions'); render.add(engine.render.options, 'showBroadphase'); render.add(engine.render.options, 'showBounds'); render.add(engine.render.options, 'showVelocity'); render.add(engine.render.options, 'showCollisions'); render.add(engine.render.options, 'showAxes'); render.add(engine.render.options, 'showAngleIndicator'); render.add(engine.render.options, 'showSleeping'); render.add(engine.render.options, 'showIds'); render.add(engine.render.options, 'showShadows'); render.add(engine.render.options, 'enabled'); render.open(); //datGui.remember(world) return gui; }; /** * Description * @method update * @param {gui} gui * @param {datGui} datGui */ Gui.update = function(gui, datGui) { var i; datGui = datGui || gui.datGui; for (i in datGui.__folders) { Gui.update(gui, datGui.__folders[i]); } for (i in datGui.__controllers) { var controller = datGui.__controllers[i]; if (controller.updateDisplay) controller.updateDisplay(); } }; /** * Description * @method closeAll * @param {gui} gui */ Gui.closeAll = function(gui) { var datGui = gui.datGui; for (var i in datGui.__folders) { datGui.__folders[i].close(); } }; })(); ; // End src/render/Gui.js // Begin src/render/Render.js /** * See [Demo.js](https://github.com/liabru/matter-js/blob/master/demo/js/Demo.js) * and [DemoMobile.js](https://github.com/liabru/matter-js/blob/master/demo/js/DemoMobile.js) for usage examples. * * @class Render */ // TODO: viewports // TODO: two.js, pixi.js var Render = {}; (function() { /** * Description * @method create * @param {object} options * @return {render} A new renderer */ Render.create = function(options) { var defaults = { controller: Render, options: { width: 800, height: 600, background: '#fafafa', wireframeBackground: '#222', enabled: true, wireframes: true, showSleeping: true, showDebug: false, showBroadphase: false, showBounds: false, showVelocity: false, showCollisions: false, showAxes: false, showPositions: false, showAngleIndicator: false, showIds: false, showShadows: false } }; var render = Common.extend(defaults, options); render.canvas = render.canvas || _createCanvas(render.options.width, render.options.height); render.context = render.canvas.getContext('2d'); return render; }; /** * Description * @method world * @param {engine} engine */ Render.world = function(engine) { var render = engine.render, world = engine.world, canvas = render.canvas, context = render.context, options = render.options, i; if (options.wireframes) { context.fillStyle = options.wireframeBackground; } else { context.fillStyle = options.background; } context.fillRect(0, 0, canvas.width, canvas.height); if (options.showShadows && !options.wireframes) for (i = 0; i < world.bodies.length; i++) Render.bodyShadow(engine, world.bodies[i], context); for (i = 0; i < world.bodies.length; i++) Render.body(engine, world.bodies[i], context); for (i = 0; i < world.constraints.length; i++) Render.constraint(world.constraints[i], context); if (options.showCollisions) for (i = 0; i < engine.pairsList.length; i++) Render.collision(engine, engine.pairsList[i], context); if (options.showBroadphase && engine.broadphase.current === 'grid') Render.grid(engine, engine.broadphase[engine.broadphase.current].instance, context); if (options.showDebug) Render.debug(engine, context); }; /** * Description * @method debug * @param {engine} engine * @param {RenderingContext} context */ Render.debug = function(engine, context) { var c = context, world = engine.world, render = engine.render, options = render.options, space = " "; if (engine.timing.timestamp - (render.debugTimestamp || 0) >= 500) { var text = ""; text += "delta: " + engine.timing.delta.toFixed(3) + space; text += "fps: " + Math.round(engine.timing.fps) + space; text += "correction: " + engine.timing.correction.toFixed(3) + space; text += "bodies: " + world.bodies.length + space; if (engine.broadphase.controller === Grid) text += "buckets: " + engine.metrics.buckets + space; text += "\n"; text += "collisions: " + engine.metrics.collisions + space; text += "pairs: " + engine.pairs.length + space; text += "broad: " + engine.metrics.broadEff + space; text += "mid: " + engine.metrics.midEff + space; text += "narrow: " + engine.metrics.narrowEff + space; render.debugString = text; render.debugTimestamp = engine.timing.timestamp; } if (render.debugString) { c.font = "12px Arial"; if (options.wireframes) { c.fillStyle = 'rgba(255,255,255,0.5)'; } else { c.fillStyle = 'rgba(0,0,0,0.5)'; } var split = render.debugString.split('\n'); for (var i = 0; i < split.length; i++) { c.fillText(split[i], 50, 50 + i * 18); } } }; /** * Description * @method constraint * @param {constraint} constraint * @param {RenderingContext} context */ Render.constraint = function(constraint, context) { var bodyA = constraint.bodyA, bodyB = constraint.bodyB, c = context; if (!constraint.pointA || !constraint.pointB) return; if (bodyA) { c.beginPath(); c.moveTo(bodyA.position.x + constraint.pointA.x, bodyA.position.y + constraint.pointA.y); } else { c.beginPath(); c.moveTo(constraint.pointA.x, constraint.pointA.y); } if (bodyB) { c.lineTo(bodyB.position.x + constraint.pointB.x, bodyB.position.y + constraint.pointB.y); } else { c.lineTo(constraint.pointB.x, constraint.pointB.y); } c.lineWidth = constraint.lineWidth; c.strokeStyle = constraint.strokeStyle; c.stroke(); }; /** * Description * @method bodyShadow * @param {engine} engine * @param {body} body * @param {RenderingContext} context */ Render.bodyShadow = function(engine, body, context) { var c = context, render = engine.render; if (body.circleRadius) { c.beginPath(); c.arc(body.position.x, body.position.y, body.circleRadius, 0, 2 * Math.PI); c.closePath(); } else { c.beginPath(); c.moveTo(body.vertices[0].x, body.vertices[0].y); for (var j = 1; j < body.vertices.length; j++) { c.lineTo(body.vertices[j].x, body.vertices[j].y); } c.closePath(); } var distanceX = body.position.x - render.options.width * 0.5, distanceY = body.position.y - render.options.height * 0.2, distance = Math.abs(distanceX) + Math.abs(distanceY); c.shadowColor = 'rgba(0,0,0,0.15)'; c.shadowOffsetX = 0.05 * distanceX; c.shadowOffsetY = 0.05 * distanceY; c.shadowBlur = 1 + 12 * Math.min(1, distance / 1000); c.fill(); c.shadowColor = null; c.shadowOffsetX = null; c.shadowOffsetY = null; c.shadowBlur = null; }; /** * Description * @method body * @param {engine} engine * @param {body} body * @param {RenderingContext} context */ Render.body = function(engine, body, context) { var c = context, render = engine.render, options = render.options; // body bounds if (options.showBounds) { c.beginPath(); c.rect(body.bounds.min.x, body.bounds.min.y, body.bounds.max.x - body.bounds.min.x, body.bounds.max.y - body.bounds.min.y); c.lineWidth = 1; if (options.wireframes) { c.strokeStyle = 'rgba(255,255,255,0.08)'; } else { c.strokeStyle = 'rgba(0,0,0,0.1)'; } c.stroke(); } // body polygon if (body.circleRadius) { c.beginPath(); c.arc(body.position.x, body.position.y, body.circleRadius, 0, 2 * Math.PI); c.closePath(); } else { c.beginPath(); c.moveTo(body.vertices[0].x, body.vertices[0].y); for (var j = 1; j < body.vertices.length; j++) { c.lineTo(body.vertices[j].x, body.vertices[j].y); } c.closePath(); } if (!options.wireframes) { c.fillStyle = body.fillStyle; if (options.showSleeping && body.isSleeping) c.fillStyle = Common.shadeColor(body.fillStyle, 50); c.lineWidth = body.lineWidth; c.strokeStyle = body.strokeStyle; c.fill(); c.stroke(); } else { c.lineWidth = 1; c.strokeStyle = '#bbb'; if (options.showSleeping && body.isSleeping) c.strokeStyle = 'rgba(255,255,255,0.2)'; c.stroke(); } // angle indicator if (options.showAngleIndicator && !options.showAxes) { c.beginPath(); c.moveTo(body.position.x, body.position.y); c.lineTo((body.vertices[0].x + body.vertices[body.vertices.length-1].x) / 2, (body.vertices[0].y + body.vertices[body.vertices.length-1].y) / 2); c.lineWidth = 1; if (options.wireframes) { c.strokeStyle = 'indianred'; } else { c.strokeStyle = body.strokeStyle; } c.stroke(); } // axes if (options.showAxes) { for (var i = 0; i < body.axes.length; i++) { var axis = body.axes[i]; c.beginPath(); c.moveTo(body.position.x, body.position.y); c.lineTo(body.position.x + axis.x * 20, body.position.y + axis.y * 20); c.lineWidth = 1; if (options.wireframes) { c.strokeStyle = 'indianred'; } else { c.strokeStyle = body.strokeStyle; } c.stroke(); } } // positions if (options.showPositions) { c.beginPath(); c.arc(body.position.x, body.position.y, 3, 0, 2 * Math.PI, false); if (options.wireframes) { c.fillStyle = 'indianred'; } else { c.fillStyle = 'rgba(0,0,0,0.5)'; } c.fill(); c.beginPath(); c.arc(body.positionPrev.x, body.positionPrev.y, 2, 0, 2 * Math.PI, false); c.fillStyle = 'rgba(255,165,0,0.8)'; c.fill(); } // body velocity vector if (options.showVelocity) { c.beginPath(); c.moveTo(body.position.x, body.position.y); c.lineTo(body.position.x + (body.position.x - body.positionPrev.x) * 2, body.position.y + (body.position.y - body.positionPrev.y) * 2); c.lineWidth = 3; c.strokeStyle = 'cornflowerblue'; c.stroke(); } // body id if (options.showIds) { c.font = "12px Arial"; c.fillStyle = 'rgba(255,255,255,0.5)'; c.fillText(body.id, body.position.x + 10, body.position.y - 10); } }; /** * Description * @method collision * @param {engine} engine * @param {pair} pair * @param {RenderingContext} context */ Render.collision = function(engine, pair, context) { var c = context, collision = pair.collision, options = engine.render.options; for (var i = 0; i < pair.activeContacts.length; i++) { var contact = pair.activeContacts[i], vertex = contact.vertex; c.beginPath(); //c.arc(vertex.x, vertex.y, 2.5, 0, 2 * Math.PI, false); c.rect(vertex.x - 1.5, vertex.y - 1.5, 3.5, 3.5); if (options.wireframes) { c.fillStyle = 'rgba(255,255,255,0.7)'; } else { c.fillStyle = 'orange'; } c.fill(); } if (pair.activeContacts.length > 0) { var normalPosX = pair.activeContacts[0].vertex.x, normalPosY = pair.activeContacts[0].vertex.y; if (pair.activeContacts.length === 2) { normalPosX = (pair.activeContacts[0].vertex.x + pair.activeContacts[1].vertex.x) / 2; normalPosY = (pair.activeContacts[0].vertex.y + pair.activeContacts[1].vertex.y) / 2; } // collision normal c.beginPath(); c.moveTo(normalPosX - collision.normal.x * 8, normalPosY - collision.normal.y * 8); c.lineWidth = 1; c.lineTo(normalPosX, normalPosY); if (options.wireframes) { c.strokeStyle = 'rgba(255,165,0,0.7)'; } else { c.strokeStyle = 'orange'; } c.stroke(); } }; /** * Description * @method grid * @param {engine} engine * @param {grid} grid * @param {RenderingContext} context */ Render.grid = function(engine, grid, context) { var c = context, options = engine.render.options; c.lineWidth = 1; if (options.wireframes) { c.strokeStyle = 'rgba(255,180,0,0.1)'; } else { c.strokeStyle = 'rgba(255,180,0,0.5)'; } var bucketKeys = Common.keys(grid.buckets); for (var i = 0; i < bucketKeys.length; i++) { var bucketId = bucketKeys[i]; if (grid.buckets[bucketId].length < 2) continue; var region = bucketId.split(','); c.beginPath(); c.rect(0.5 + parseInt(region[0], 10) * grid.bucketWidth, 0.5 + parseInt(region[1], 10) * grid.bucketHeight, grid.bucketWidth, grid.bucketHeight); c.stroke(); } }; /** * Description * @method _createCanvas * @private * @param {} width * @param {} height * @return canvas */ var _createCanvas = function(width, height) { var canvas = document.createElement('canvas'); canvas.width = width; canvas.height = height; canvas.oncontextmenu = function() { return false; }; canvas.onselectstart = function() { return false; }; return canvas; }; })(); ; // End src/render/Render.js // aliases World.addComposite = Composite.add; World.addBody = Composite.addBody; World.addConstraint = Composite.addConstraint; // exports Matter.Body = Body; Matter.Composite = Composite; Matter.World = World; Matter.Contact = Contact; Matter.Detector = Detector; Matter.Grid = Grid; Matter.Manager = Manager; Matter.Pair = Pair; Matter.Resolver = Resolver; Matter.SAT = SAT; Matter.Constraint = Constraint; Matter.MouseConstraint = MouseConstraint; Matter.Common = Common; Matter.Engine = Engine; Matter.Metrics = Metrics; Matter.Mouse = Mouse; Matter.Sleeping = Sleeping; Matter.Bodies = Bodies; Matter.Composites = Composites; Matter.Axes = Axes; Matter.Bounds = Bounds; Matter.Vector = Vector; Matter.Vertices = Vertices; Matter.Gui = Gui; Matter.Render = Render; // CommonJS module if (typeof exports !== 'undefined') { if (typeof module !== 'undefined' && module.exports) { exports = module.exports = Matter; } exports.Matter = Matter; } // AMD module if (typeof define === 'function' && define.amd) { define('Matter', [], function () { return Matter; }); } // browser if (typeof window === 'object' && typeof window.document === 'object') { window.Matter = Matter; } // End Matter namespace closure })();