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Minimum displacement linear equation solver finally working properly, yay!

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This commit is contained in:
Richard Davey 2019-03-29 17:07:48 +00:00
parent c636c58ff8
commit 4d660f2f51
1 changed files with 71 additions and 66 deletions
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137
src/physics/arcade/CollisionInfo.js
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@ -40,29 +40,32 @@ var CollisionInfo = {
return data;
}
var checkCollision1 = body1.checkCollision;
var checkCollision2 = body2.checkCollision;
var intersectsX = intersects;
var intersectsY = intersects;
var overlapX = 0;
var overlapY = 0;
var maxOverlapX = body1.deltaAbsX() + body2.deltaAbsX() + bias;
var maxOverlapY = body1.deltaAbsY() + body2.deltaAbsY() + bias;
var v1 = body1.velocity;
var v2 = body2.velocity;
// var maxOverlapX = body1.deltaAbsX() + body2.deltaAbsX() + bias;
// var maxOverlapY = body1.deltaAbsY() + body2.deltaAbsY() + bias;
var maxOverlapX = bias;
var maxOverlapY = bias;
var distanceX1 = body1.right - body2.x;
var distanceX2 = body2.right - body1.x;
var prevDistanceX1 = (body1.prev.x + body1.width) - body2.prev.x;
var prevDistanceX2 = (body2.prev.x + body2.width) - body1.prev.x;
var distanceY1 = body1.bottom - body2.y;
var distanceY2 = body2.bottom - body1.y;
var prevDistanceY1 = (body1.prev.y + body1.height) - body2.prev.y;
var prevDistanceY2 = (body2.prev.y + body2.height) - body1.prev.y;
var leftFace = (distanceX1 > distanceX2 && prevDistanceX1 > prevDistanceX2);
var topFace = (distanceY1 > distanceY2 && prevDistanceY1 > prevDistanceY2);
var leftFace = (distanceX1 > distanceX2);
var topFace = (distanceY1 > distanceY2);
var touchingX = false;
@ -98,7 +101,10 @@ var CollisionInfo = {
var shareX2 = 0;
var shareY1 = 0;
var shareY2 = 0;
var timeXCollision = 0;
var timeYCollision = 0;
if (leftFace)
{
faceX = CONST.FACING_LEFT;
@ -108,6 +114,8 @@ var CollisionInfo = {
{
overlapX = distanceX2;
timeXCollision = overlapX / body2.deltaX();
share = overlapX * 0.5;
if (!body1.immovable)
@ -132,7 +140,7 @@ var CollisionInfo = {
intersectsX = false;
}
}
else
else if (!leftFace)
{
faceX = CONST.FACING_RIGHT;
@ -141,6 +149,8 @@ var CollisionInfo = {
{
overlapX = distanceX1;
timeXCollision = overlapX / -body2.deltaX();
share = overlapX * 0.5;
if (!body2.immovable)
@ -175,6 +185,8 @@ var CollisionInfo = {
{
overlapY = distanceY2;
timeYCollision = overlapY / body2.deltaY();
share = overlapY * 0.5;
if (!body1.immovable)
@ -208,6 +220,8 @@ var CollisionInfo = {
{
overlapY = distanceY1;
timeYCollision = overlapY / -body2.deltaY();
share = overlapY * 0.5;
if (!body2.immovable)
@ -233,91 +247,73 @@ var CollisionInfo = {
}
}
var forceX = (touchingX || overlapX < overlapY);
// Swizzle it if the body was moving so fast the penetration is too deep to resolve using faces alone
// if (forceX && (maxOverlapY > maxOverlapX))
// {
// forceX = false;
// }
// else if (!forceX && (maxOverlapX < maxOverlapY))
// {
// forceX = true;
// }
var forceX = (touchingX || (timeXCollision < timeYCollision));
var face = (forceX) ? faceX : faceY;
if (forceX && FuzzyEqual(overlapX, 0))
{
// Difference is too small to warrant considering separation
overlapX = 0;
shareX1 = 0;
shareX2 = 0;
intersects = false;
intersectsX = false;
face = faceX;
}
if (!forceX && FuzzyEqual(overlapY, 0))
{
// Difference is too small to warrant considering separation
overlapY = 0;
shareY1 = 0;
shareY2 = 0;
intersects = false;
intersectsY = false;
face = faceY;
}
// Body embedded?
var embeddedX = (forceX && overlapX > maxOverlapX);
var embeddedY = (!forceX && overlapY > maxOverlapY);
var embedded = (embeddedX || embeddedY);
// Collision Checks
var checkCollision1 = body1.checkCollision;
var checkCollision2 = body2.checkCollision;
var abort = (checkCollision1.none || checkCollision2.none);
// Collision Checks
if (!abort)
{
var v1 = body1.velocity;
var v2 = body2.velocity;
if (!checkCollision1.left && (face === CONST.FACING_LEFT && v2.x >= 0))
if (forceX && FuzzyEqual(overlapX, 0))
{
// Difference is too small to warrant considering separation
overlapX = 0;
shareX1 = 0;
shareX2 = 0;
intersects = false;
intersectsX = false;
face = faceX;
}
if (!forceX && FuzzyEqual(overlapY, 0))
{
// Difference is too small to warrant considering separation
overlapY = 0;
shareY1 = 0;
shareY2 = 0;
intersects = false;
intersectsY = false;
face = faceY;
}
if (!checkCollision1.left && ((face === CONST.FACING_LEFT || embeddedX) && v2.x >= 0))
{
abort = true;
}
else if (!checkCollision1.right && (face === CONST.FACING_RIGHT && v2.x <= 0))
else if (!checkCollision1.right && ((face === CONST.FACING_RIGHT || embeddedX) && v2.x <= 0))
{
abort = true;
}
else if (!checkCollision1.up && (face === CONST.FACING_UP && v2.y >= 0))
else if (!checkCollision1.up && ((face === CONST.FACING_UP || embeddedY) && v2.y >= 0))
{
abort = true;
}
else if (!checkCollision1.down && (face === CONST.FACING_DOWN && v2.y <= 0))
else if (!checkCollision1.down && ((face === CONST.FACING_DOWN || embeddedY) && v2.y <= 0))
{
abort = true;
}
if (!checkCollision2.left && (face === CONST.FACING_LEFT && v1.x >= 0))
if (!checkCollision2.left && ((face === CONST.FACING_RIGHT || embeddedX) && v1.x >= 0))
{
abort = true;
}
else if (!checkCollision2.right && (face === CONST.FACING_RIGHT && v1.x <= 0))
else if (!checkCollision2.right && ((face === CONST.FACING_LEFT || embeddedX) && v1.x <= 0))
{
abort = true;
}
else if (!checkCollision2.up && (face === CONST.FACING_UP && v1.y >= 0))
else if (!checkCollision2.up && ((face === CONST.FACING_DOWN || embeddedY) && v1.y >= 0))
{
abort = true;
}
else if (!checkCollision2.down && (face === CONST.FACING_DOWN && v1.y <= 0))
else if (!checkCollision2.down && ((face === CONST.FACING_UP || embeddedY) && v1.y <= 0))
{
abort = true;
}
@ -334,13 +330,20 @@ var CollisionInfo = {
{
var faces = { 10: 'None', 11: 'Up', 12: 'Down', 13: 'Left', 14: 'Right' };
if (abort)
{
console.log('%c Aborted ', 'background-color: red');
}
console.log('body1:', body1.gameObject.name, 'vs body2:', body2.gameObject.name, 'on face', faces[face], faces[faceX], faces[faceY]);
console.log('intersects?', intersects, 'xy', intersectsX, intersectsY, 'touching?', touching);
console.log('body1 x:', body1.x, 'right:', body1.right);
console.log('body1 y:', body1.y, 'bottom:', body1.bottom);
console.log('body2 x:', body2.x, 'right:', body2.right);
console.log('body2 y:', body2.y, 'bottom:', body2.bottom);
console.log('embedded?', embeddedX, embeddedY, 'aborted?:', abort);
console.log('embedded?', embedded, 'xy', embeddedX, embeddedY);
console.log('time x', timeXCollision, 'time y', timeYCollision);
// console.log('prev body1 x:', body1.prev.x, 'prev y:', body1.prev.y);
// console.log('prev body2 x:', body2.prev.x, 'prev y:', body2.prev.y);
console.log('velocity1 x:', body1.velocity.x, 'y:', body1.velocity.y);
@ -364,9 +367,9 @@ var CollisionInfo = {
console.log('overlapX:', overlapX, 'overlapY:', overlapY);
console.log('maxOverlapX:', maxOverlapX, 'maxOverlapY:', maxOverlapY);
console.log('distanceX:', distanceX1, distanceX2);
console.log('prevDistanceX', prevDistanceX1, prevDistanceX2, 'left?', (distanceX1 > distanceX2 && prevDistanceX1 > prevDistanceX2));
// console.log('prevDistanceX', prevDistanceX1, prevDistanceX2, 'left?', (distanceX1 > distanceX2 && prevDistanceX1 > prevDistanceX2));
console.log('distanceY:', distanceY1, distanceY2);
console.log('prevDistanceY', prevDistanceY1, prevDistanceY2, 'top?', (distanceY1 > distanceY2 && prevDistanceY1 > prevDistanceY2));
// console.log('prevDistanceY', prevDistanceY1, prevDistanceY2, 'top?', (distanceY1 > distanceY2 && prevDistanceY1 > prevDistanceY2));
// console.log('shareX1:', shareX1, 'shareX2:', shareX2);
// console.log('shareY1:', shareY1, 'shareY2:', shareY2);
@ -383,6 +386,7 @@ var CollisionInfo = {
if (data)
{
data.abort = abort;
data.intersects = intersects;
data.touching = touching;
data.embedded = embedded;
@ -405,6 +409,7 @@ var CollisionInfo = {
else
{
return {
abort: abort,
body1: body1,
body2: body2,
embedded: embedded,