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After hours and hours of debugging, polygon to polygon collision is now working perfectly :)

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This commit is contained in:
Richard Davey 2013-06-21 23:39:29 +01:00
parent 829a1b00e4
commit ec845155eb
19 changed files with 1269 additions and 763 deletions
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4
Phaser/Phaser.csproj
View file

@ -213,6 +213,10 @@
<TypeScriptCompile Include="physics\advanced\shapes\Shape.ts" />
<TypeScriptCompile Include="physics\advanced\shapes\IShape.ts" />
<TypeScriptCompile Include="physics\advanced\shapes\Box.ts" />
<TypeScriptCompile Include="physics\advanced\Plane.ts" />
<Content Include="physics\advanced\Plane.js">
<DependentUpon>Plane.ts</DependentUpon>
</Content>
<Content Include="physics\advanced\shapes\Box.js">
<DependentUpon>Box.ts</DependentUpon>
</Content>

18
Phaser/math/Transform.ts
View file

@ -22,12 +22,20 @@ module Phaser {
this.t = Phaser.Vec2Utils.clone(pos);
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
public t: Phaser.Vec2;
public c: number;
public s: number;
public angle: number;
public toString() {
return 't=' + this.t.toString() + ' c=' + this.c + ' s=' + this.s + ' a=' + this.angle;
}
public setTo(pos:Phaser.Vec2, angle:number) {
@ -41,8 +49,13 @@ module Phaser {
public setRotation(angle:number) {
this.c = Math.cos(angle);
this.s = Math.sin(angle);
if (angle !== this.angle)
{
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
return this;
}
@ -50,6 +63,7 @@ module Phaser {
public setPosition(p:Phaser.Vec2) {
this.t.copyFrom(p);
return this;
}

4
Phaser/math/TransformUtils.ts
View file

@ -14,14 +14,17 @@ module Phaser {
export class TransformUtils {
public static rotate(t: Transform, v:Phaser.Vec2, out?: Vec2 = new Vec2):Phaser.Vec2 {
//return new vec2(v.x * this.c - v.y * this.s, v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c - v.y * t.s, v.x * t.s + v.y * t.c);
}
public static unrotate(t: Transform, v:Phaser.Vec2, out?: Vec2 = new Vec2):Phaser.Vec2 {
//return new vec2(v.x * this.c + v.y * this.s, -v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c + v.y * t.s, -v.x * t.s + v.y * t.c);
}
public static transform(t: Transform, v:Phaser.Vec2, out?: Vec2 = new Vec2):Phaser.Vec2 {
//return new vec2(v.x * this.c - v.y * this.s + this.t.x, v.x * this.s + v.y * this.c + this.t.y);
return out.setTo(v.x * t.c - v.y * t.s + t.t.x, v.x * t.s + v.y * t.c + t.t.y);
}
@ -30,6 +33,7 @@ module Phaser {
var px = v.x - t.t.x;
var py = v.y - t.t.y;
//return new vec2(px * this.c + py * this.s, -px * this.s + py * this.c);
return out.setTo(px * t.c + py * t.s, -px * t.s + py * t.c);
}

3
Phaser/math/Vec2.ts
View file

@ -288,7 +288,8 @@ module Phaser {
* @return {string} a string representation of the object.
**/
public toString(): string {
return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
//return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
return "x=" + this.x + " y=" + this.y;
}
}

96
Phaser/physics/advanced/Body.ts
View file

@ -69,6 +69,10 @@ module Phaser.Physics.Advanced {
}
public toString(): string {
return "[{Body (name=" + this.name + " velocity=" + this.velocity.toString() + " angularVelocity: " + this.angularVelocity + ")}]";
}
private _tempVec2: Phaser.Vec2 = new Phaser.Vec2;
/**
@ -305,7 +309,10 @@ module Phaser.Physics.Advanced {
this.transform.setTo(pos, angle);
// inject the transform into this.position
Manager.write('setTransform: ' + this.position.toString());
Manager.write('centroid: ' + this.centroid.toString());
Phaser.TransformUtils.transform(this.transform, this.centroid, this.position);
Manager.write('post setTransform: ' + this.position.toString());
//this.position.copyFrom(this.transform.transform(this.centroid));
this.angle = angle;
@ -313,17 +320,17 @@ module Phaser.Physics.Advanced {
public syncTransform() {
Manager.write('syncTransform:');
Manager.write('p: ' + this.position.toString());
Manager.write('centroid: ' + this.centroid.toString());
Manager.write('xf: ' + this.transform.toString());
Manager.write('a: ' + this.angle);
this.transform.setRotation(this.angle);
//var rotc: Phaser.Vec2 = this.transform.rotate(this.centroid);
//var sub: Phaser.Vec2 = Phaser.Vec2Utils.subtract(this.position, rotc);
//this.transform.setPosition(sub);
// this.transform.setPosition(vec2.sub(this.position, this.transform.rotate(this.centroid)));
//Phaser.Vec2Utils.subtract(this.position, this.transform.rotate(this.centroid), this.transform.t);
// OPTIMISE: Creating new vector
Phaser.Vec2Utils.subtract(this.position, Phaser.TransformUtils.rotate(this.transform, this.centroid), this.transform.t);
Manager.write('--------------------');
Manager.write('xf: ' + this.transform.toString());
Manager.write('--------------------');
}
@ -332,17 +339,17 @@ module Phaser.Physics.Advanced {
return Phaser.TransformUtils.transform(this.transform, p);
}
public getWorldVector(v) {
public getWorldVector(v:Phaser.Vec2) {
// OPTIMISE: Creating new vector
return Phaser.TransformUtils.rotate(this.transform, v);
}
public getLocalPoint(p) {
public getLocalPoint(p:Phaser.Vec2) {
// OPTIMISE: Creating new vector
return Phaser.TransformUtils.untransform(this.transform, p);
}
public getLocalVector(v) {
public getLocalVector(v:Phaser.Vec2) {
// OPTIMISE: Creating new vector
return Phaser.TransformUtils.unrotate(this.transform, v);
}
@ -430,21 +437,28 @@ module Phaser.Physics.Advanced {
}
}
public cacheData() {
public cacheData(source:string = '') {
//console.log('Body cacheData', this.name, 'len', this.shapes.length);
Manager.write('cacheData -- start');
Manager.write('p: ' + this.position.toString());
Manager.write('xf: ' + this.transform.toString());
this.bounds.clear();
for (var i = 0; i < this.shapes.length; i++)
{
var shape = this.shapes[i];
var shape: IShape = this.shapes[i];
shape.cacheData(this.transform);
this.bounds.addBounds(shape.bounds);
}
}
Manager.write('bounds: ' + this.bounds.toString());
Manager.write('p: ' + this.position.toString());
Manager.write('xf: ' + this.transform.toString());
Manager.write('cacheData -- stop');
}
public updateVelocity(gravity, dt, damping) {
@ -461,14 +475,44 @@ module Phaser.Physics.Advanced {
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
this.velocity.scale(this.game.math.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.game.math.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.velocity.scale(this.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.force.setTo(0, 0);
this.torque = 0;
}
public inContact(body2: Body): bool {
if (!body2 || this.stepCount == body2.stepCount)
{
return false;
}
if (!(this.isAwake && this.isStatic == false) && !(body2.isAwake && body2.isStatic == false))
{
return false;
}
if (this.isCollidable(body2) == false)
{
return false;
}
if (!this.bounds.intersectsBounds(body2.bounds))
{
return false;
}
return true;
}
public clamp(v, min, max) {
return v < min ? min : (v > max ? max : v);
}
public updatePosition(dt) {
//console.log('body update pos', this.position.y);
@ -489,7 +533,7 @@ module Phaser.Physics.Advanced {
this.torque = 0;
}
public applyForce(force, p) {
public applyForce(force:Phaser.Vec2, p:Phaser.Vec2) {
if (this.isDynamic == false)
{
@ -511,7 +555,7 @@ module Phaser.Physics.Advanced {
}
public applyForceToCenter(force) {
public applyForceToCenter(force:Phaser.Vec2) {
if (this.isDynamic == false)
{
@ -527,7 +571,7 @@ module Phaser.Physics.Advanced {
}
public applyTorque(torque) {
public applyTorque(torque:number) {
if (this.isDynamic == false)
{
@ -543,7 +587,7 @@ module Phaser.Physics.Advanced {
}
public applyLinearImpulse(impulse, p) {
public applyLinearImpulse(impulse:Phaser.Vec2, p:Phaser.Vec2) {
if (this.isDynamic == false)
{
@ -560,6 +604,7 @@ module Phaser.Physics.Advanced {
// this.angularVelocity += vec2.cross(vec2.sub(p, this.position), impulse) * this.inertiaInverted;
Phaser.Vec2Utils.subtract(p, this.position, this._tempVec2);
this.angularVelocity += Phaser.Vec2Utils.cross(this._tempVec2, impulse) * this.inertiaInverted;
}
@ -611,7 +656,7 @@ module Phaser.Physics.Advanced {
}
public isCollidable(other) {
public isCollidable(other:Body) {
if (this == other)
{
@ -632,12 +677,7 @@ module Phaser.Physics.Advanced {
{
var joint = this.joints[i];
if (!joint)
{
continue;
}
if (!joint.collideConnected && other.jointHash[joint.id] != undefined)
if (!this.joints[i] || (!this.joints[i].collideConnected && other.jointHash[this.joints[i].id] != undefined))
{
return false;
}

32
Phaser/physics/advanced/Collision.ts
View file

@ -187,20 +187,20 @@ module Phaser.Physics.Advanced {
for (var i = 0; i < poly.verts.length; i++)
{
var plane = poly.tplanes[i];
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.n) - plane.d - circ.radius;
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.normal) - plane.d - circ.radius;
if (dist > 0)
{
return 0;
}
else if (dist > minDist)
{
{
minDist = dist;
minIdx = i;
}
}
var n = poly.tplanes[minIdx].n;
var n = poly.tplanes[minIdx].normal;
var a = poly.tverts[minIdx];
var b = poly.tverts[(minIdx + 1) % poly.verts.length];
var dta = Phaser.Vec2Utils.cross(a, n);
@ -358,7 +358,7 @@ module Phaser.Physics.Advanced {
for (var i = 0; i < poly.verts.length; i++)
{
var plane = poly.tplanes[i];
var dist = seg.distanceOnPlane(plane.n, plane.d);
var dist = seg.distanceOnPlane(plane.normal, plane.d);
if (dist > 0)
{
@ -373,7 +373,7 @@ module Phaser.Physics.Advanced {
}
var poly_n: Phaser.Vec2 = new Phaser.Vec2;
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].n, poly_n);
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].normal, poly_n);
//var poly_n = vec2.neg(poly.tplanes[poly_i].n);
var va: Phaser.Vec2 = new Phaser.Vec2;
@ -397,6 +397,7 @@ module Phaser.Physics.Advanced {
// Floating point precision problems here.
// This will have to do for now.
poly_d -= 0.1
if (seg_d1 >= poly_d || seg_d2 >= poly_d)
{
if (seg_d1 > seg_d2)
@ -441,14 +442,14 @@ module Phaser.Physics.Advanced {
}
// Find the minimum separating axis for the given poly and plane list.
public findMSA(poly: Phaser.Physics.Advanced.Shapes.Poly, planes, num: number) {
public findMSA(poly: Phaser.Physics.Advanced.Shapes.Poly, planes: Phaser.Physics.Advanced.Plane[], num: number) {
var min_dist = -999999;
var min_index = -1;
var min_dist: number = -999999;
var min_index: number = -1;
for (var i = 0; i < num; i++)
for (var i: number = 0; i < num; i++)
{
var dist = poly.distanceOnPlane(planes[i].n, planes[i].d);
var dist: number = poly.distanceOnPlane(planes[i].normal, planes[i].d);
if (dist > 0)
{
@ -456,7 +457,7 @@ module Phaser.Physics.Advanced {
return { dist: 0, index: -1 };
}
else if (dist > min_dist)
{
{
min_dist = dist;
min_index = i;
}
@ -534,22 +535,25 @@ module Phaser.Physics.Advanced {
if (msa1.index == -1)
{
console.log('poly2poly 0', msa1);
return 0;
}
var msa2 = this.findMSA(poly1, poly2.tplanes, poly2.verts.length);
if (msa2.index == -1)
{
console.log('poly2poly 1', msa2);
return 0;
}
// Penetration normal direction shoud be from poly1 to poly2
// Penetration normal direction should be from poly1 to poly2
if (msa1.dist > msa2.dist)
{
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].n, msa1.dist);
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].normal, msa1.dist);
}
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].n), msa2.dist);
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].normal), msa2.dist);
}

66
Phaser/physics/advanced/ContactSolver.ts
View file

@ -38,8 +38,6 @@ module Phaser.Physics.Advanced {
constructor(shape1, shape2) {
//console.log('ContactSolver super');
this.shape1 = shape1;
this.shape2 = shape2;
@ -160,7 +158,7 @@ module Phaser.Physics.Advanced {
for (var i = 0; i < this.contacts.length; i++)
{
var con = this.contacts[i];
var con:Contact = this.contacts[i];
var n = con.normal;
var lambda_n = con.lambdaNormal;
var lambda_t = con.lambdaTangential;
@ -170,16 +168,18 @@ module Phaser.Physics.Advanced {
//var impulse = new vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
//console.log('phaser warmStart impulse ' + i + ' = ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -body1.massInverted);
//body1.v.mad(impulse, -body1.m_inv);
body1.angularVelocity -= Phaser.Vec2Utils.cross(con.r1, impulse) * body1.inertiaInverted;
//body1.w -= vec2.cross(con.r1, impulse) * body1.i_inv;
body2.velocity.multiplyAddByScalar(impulse, -body2.massInverted);
body2.velocity.multiplyAddByScalar(impulse, body2.massInverted);
//body2.v.mad(impulse, body2.m_inv);
body2.angularVelocity -= Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
body2.angularVelocity += Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
//body2.w += vec2.cross(con.r2, impulse) * body2.i_inv;
}
@ -190,15 +190,25 @@ module Phaser.Physics.Advanced {
var body1: Body = this.shape1.body;
var body2: Body = this.shape2.body;
Manager.write('solveVelocityConstraints. Body1: ' + body1.name + ' Body2: ' + body2.name);
Manager.write('Shape 1: ' + this.shape1.type + ' Shape 2: ' + this.shape2.type);
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
var i2_inv = body2.inertiaInverted;
Manager.write('m1_inv: ' + m1_inv);
Manager.write('i1_inv: ' + i1_inv);
Manager.write('m2_inv: ' + m2_inv);
Manager.write('i2_inv: ' + i2_inv);
for (var i = 0; i < this.contacts.length; i++)
{
var con = this.contacts[i];
var n = con.normal;
Manager.write('------------ solve con ' + i);
var con: Contact = this.contacts[i];
var n: Phaser.Vec2 = con.normal;
var t = Phaser.Vec2Utils.perp(n);
var r1 = con.r1;
var r2 = con.r2;
@ -212,23 +222,34 @@ module Phaser.Physics.Advanced {
Phaser.Vec2Utils.multiplyAdd(body1.velocity, Phaser.Vec2Utils.perp(r1), body1.angularVelocity, v1);
//var v1 = vec2.mad(body1.v, vec2.perp(r1), body1.w);
Manager.write('v1 ' + v1.toString());
Phaser.Vec2Utils.multiplyAdd(body2.velocity, Phaser.Vec2Utils.perp(r2), body2.angularVelocity, v2);
//var v2 = vec2.mad(body2.v, vec2.perp(r2), body2.w);
Manager.write('v2 ' + v2.toString());
// Relative velocity at contact point
var rv = new Phaser.Vec2;
Phaser.Vec2Utils.subtract(v2, v1, rv);
//var rv = vec2.sub(v2, v1);
Manager.write('rv ' + rv.toString());
// Compute normal constraint impulse + adding bounce as a velocity bias
// lambda_n = -EMn * J * V
var lambda_n = -con.emn * (Phaser.Vec2Utils.dot(n, rv) + con.bounce);
Manager.write('lambda_n: ' + lambda_n);
// Accumulate and clamp
var lambda_n_old = con.lambdaNormal;
con.lambdaNormal = Math.max(lambda_n_old + lambda_n, 0);
//con.lambdaNormal = this.clamp(lambda_n_old + lambda_n, 0);
lambda_n = con.lambdaNormal - lambda_n_old;
Manager.write('lambda_n clamped: ' + lambda_n);
// Compute frictional constraint impulse
// lambda_t = -EMt * J * V
var lambda_t = -con.emt * Phaser.Vec2Utils.dot(t, rv);
@ -245,6 +266,7 @@ module Phaser.Physics.Advanced {
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
Manager.write('impulse: ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -m1_inv);
//body1.v.mad(impulse, -m1_inv);
@ -255,9 +277,12 @@ module Phaser.Physics.Advanced {
body2.velocity.multiplyAddByScalar(impulse, m2_inv);
//body2.v.mad(impulse, m2_inv);
body1.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
body2.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
//body2.w += vec2.cross(r2, impulse) * i2_inv;
Manager.write('body1: ' + body1.toString());
Manager.write('body2: ' + body2.toString());
}
}
@ -267,6 +292,8 @@ module Phaser.Physics.Advanced {
var body1: Body = this.shape1.body;
var body2: Body = this.shape2.body;
Manager.write('solvePositionConstraints');
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
@ -277,8 +304,10 @@ module Phaser.Physics.Advanced {
for (var i = 0; i < this.contacts.length; i++)
{
var con = this.contacts[i];
var n = con.normal;
Manager.write('------------- solvePositionConstraints ' + i);
var con:Contact = this.contacts[i];
var n:Phaser.Vec2 = con.normal;
var r1 = new Phaser.Vec2;
var r2 = new Phaser.Vec2;
@ -288,10 +317,14 @@ module Phaser.Physics.Advanced {
Phaser.Vec2Utils.rotate(con.r1_local, body1.angle, r1);
//var r1 = vec2.rotate(con.r1_local, body1.a);
Phaser.Vec2Utils.rotate(con.r2_local, body2.angle, r2);
//var r2 = vec2.rotate(con.r2_local, body2.a);
Manager.write('r1_local.x = ' + con.r1_local.x + ' r1_local.y = ' + con.r1_local.y + ' angle: ' + body1.angle);
Manager.write('r1 rotated: r1.x = ' + r1.x + ' r1.y = ' + r1.y);
Manager.write('r2_local.x = ' + con.r2_local.x + ' r2_local.y = ' + con.r2_local.y + ' angle: ' + body2.angle);
Manager.write('r2 rotated: r2.x = ' + r2.x + ' r2.y = ' + r2.y);
// Contact points (corrected)
var p1 = new Phaser.Vec2;
var p2 = new Phaser.Vec2;
@ -302,9 +335,12 @@ module Phaser.Physics.Advanced {
Phaser.Vec2Utils.add(body2.position, r2, p2);
//var p2 = vec2.add(body2.p, r2);
Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
// Corrected delta vector
var dp = new Phaser.Vec2;
Phaser.Vec2Utils.subtract(p2, p1);
Phaser.Vec2Utils.subtract(p2, p1, dp);
//var dp = vec2.sub(p2, p1);
// Position constraint
@ -343,8 +379,13 @@ module Phaser.Physics.Advanced {
//body2.p.mad(impulse_dt, m2_inv);
body2.angle += sn2 * lambda_dt * i2_inv;
Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
}
Manager.write('max_penetration: ' + max_penetration);
return max_penetration <= Manager.CONTACT_SOLVER_COLLISION_SLOP * 3;
}
@ -353,7 +394,6 @@ module Phaser.Physics.Advanced {
return v < min ? min : (v > max ? max : v);
}
}
}

103
Phaser/physics/advanced/Manager.ts
View file

@ -28,6 +28,59 @@ module Phaser.Physics.Advanced {
*/
public game: Game;
public static debug: HTMLTextAreaElement;
public static clear() {
Manager.debug.textContent = "";
Manager.log = [];
}
public static write(s: string) {
//Manager.debug.textContent += s + "\n";
}
public static writeAll() {
for (var i = 0; i < Manager.log.length; i++)
{
//Manager.debug.textContent += Manager.log[i];
}
}
public static log = [];
public static dump(phase: string, body: Body) {
var s = "\n\nPhase: " + phase + "\n";
s += "Position: " + body.position.toString() + "\n";
s += "Velocity: " + body.velocity.toString() + "\n";
s += "Angle: " + body.angle + "\n";
s += "Force: " + body.force.toString() + "\n";
s += "Torque: " + body.torque + "\n";
s += "Bounds: " + body.bounds.toString() + "\n";
s += "Shape ***\n";
s += "Vert 0: " + body.shapes[0].verts[0].toString() + "\n";
s += "Vert 1: " + body.shapes[0].verts[1].toString() + "\n";
s += "Vert 2: " + body.shapes[0].verts[2].toString() + "\n";
s += "Vert 3: " + body.shapes[0].verts[3].toString() + "\n";
s += "TVert 0: " + body.shapes[0].tverts[0].toString() + "\n";
s += "TVert 1: " + body.shapes[0].tverts[1].toString() + "\n";
s += "TVert 2: " + body.shapes[0].tverts[2].toString() + "\n";
s += "TVert 3: " + body.shapes[0].tverts[3].toString() + "\n";
s += "Plane 0: " + body.shapes[0].planes[0].normal.toString() + "\n";
s += "Plane 1: " + body.shapes[0].planes[1].normal.toString() + "\n";
s += "Plane 2: " + body.shapes[0].planes[2].normal.toString() + "\n";
s += "Plane 3: " + body.shapes[0].planes[3].normal.toString() + "\n";
s += "TPlane 0: " + body.shapes[0].tplanes[0].normal.toString() + "\n";
s += "TPlane 1: " + body.shapes[0].tplanes[1].normal.toString() + "\n";
s += "TPlane 2: " + body.shapes[0].tplanes[2].normal.toString() + "\n";
s += "TPlane 3: " + body.shapes[0].tplanes[3].normal.toString() + "\n";
Manager.log.push(s);
}
public static collision: Collision;
public static SHAPE_TYPE_CIRCLE: number = 0;
@ -68,8 +121,12 @@ module Phaser.Physics.Advanced {
public timeDelta: number = 0;
public paused: bool = false;
public step: bool = false; // step through the simulation (i.e. per click)
//public paused: bool = true;
//public step: bool = false; // step through the simulation (i.e. per click)
public velocityIterations: number = 8;
public positionIterations: number = 4;
//public velocityIterations: number = 1;
//public positionIterations: number = 1;
public allowSleep: bool = true;
public warmStarting: bool = true;
@ -91,6 +148,8 @@ module Phaser.Physics.Advanced {
if (!this.paused || this.step)
{
Manager.clear();
var h = 1 / this.frameRateHz;
this.timeDelta += frameTime;
@ -123,29 +182,6 @@ module Phaser.Physics.Advanced {
}
public pixelsToMeters(value: number): number {
return value * 0.02;
}
@ -170,31 +206,32 @@ module Phaser.Physics.Advanced {
return value * 50;
}
public static areaForCircle(radius_outer, radius_inner): number {
public static areaForCircle(radius_outer: number, radius_inner: number): number {
return Math.PI * (radius_outer * radius_outer - radius_inner * radius_inner);
}
public static inertiaForCircle(mass, center, radius_outer, radius_inner): number {
public static inertiaForCircle(mass: number, center: Phaser.Vec2, radius_outer: number, radius_inner: number): number {
return mass * ((radius_outer * radius_outer + radius_inner * radius_inner) * 0.5 + center.lengthSq());
}
public static areaForSegment(a, b, radius): number {
public static areaForSegment(a: Phaser.Vec2, b: Phaser.Vec2, radius: number): number {
return radius * (Math.PI * radius + 2 * Phaser.Vec2Utils.distance(a, b));
}
public static centroidForSegment(a, b): Phaser.Vec2 {
public static centroidForSegment(a: Phaser.Vec2, b: Phaser.Vec2): Phaser.Vec2 {
return Phaser.Vec2Utils.scale(Phaser.Vec2Utils.add(a, b), 0.5);
}
public static inertiaForSegment(mass, a, b): number {
public static inertiaForSegment(mass: number, a: Phaser.Vec2, b: Phaser.Vec2): number {
var distsq = Phaser.Vec2Utils.distanceSq(b, a);
var offset: Phaser.Vec2 = Phaser.Vec2Utils.scale(Phaser.Vec2Utils.add(a, b), 0.5);
return mass * (distsq / 12 + offset.lengthSq());
}
public static areaForPoly(verts): number {
public static areaForPoly(verts: Phaser.Vec2[]): number {
var area = 0;
@ -206,7 +243,7 @@ module Phaser.Physics.Advanced {
return area / 2;
}
public static centroidForPoly(verts): Phaser.Vec2 {
public static centroidForPoly(verts: Phaser.Vec2[]): Phaser.Vec2 {
var area = 0;
var vsum = new Phaser.Vec2;
@ -224,9 +261,10 @@ module Phaser.Physics.Advanced {
}
return Phaser.Vec2Utils.scale(vsum, 1 / (3 * area));
}
public static inertiaForPoly(mass, verts, offset): number {
public static inertiaForPoly(mass: number, verts: Phaser.Vec2[], offset: Phaser.Vec2): number {
var sum1 = 0;
var sum2 = 0;
@ -244,9 +282,10 @@ module Phaser.Physics.Advanced {
}
return (mass * sum1) / (6 * sum2);
}
public static inertiaForBox(mass, w, h) {
public static inertiaForBox(mass: number, w: number, h: number) {
return mass * (w * w + h * h) / 12;
}

28
Phaser/physics/advanced/Plane.ts Normal file
View file

@ -0,0 +1,28 @@
/// <reference path="../../math/Vec2.ts" />
/// <reference path="../../math/Vec2Utils.ts" />
/// <reference path="Manager.ts" />
/// <reference path="Body.ts" />
/**
* Phaser - Advanced Physics - Plane
*
* Based on the work Ju Hyung Lee started in JS PhyRus.
*/
module Phaser.Physics.Advanced {
export class Plane {
constructor(normal: Phaser.Vec2, d: number) {
this.normal = normal;
this.d = d;
}
public normal: Phaser.Vec2;
public d: number;
}
}

205
Phaser/physics/advanced/Space.ts
View file

@ -84,14 +84,12 @@ module Phaser.Physics.Advanced {
return;
}
//console.log('Body added to space', body.name);
var index = this.bodyArr.push(body) - 1;
this.bodyHash[body.id] = index;
body.awake(true);
body.space = this;
body.cacheData();
body.cacheData('addBody');
}
@ -433,6 +431,8 @@ module Phaser.Physics.Advanced {
public findContactSolver(shape1, shape2) {
Manager.write('findContactSolver. Length: ' + this.contactSolvers.length);
for (var i = 0; i < this.contactSolvers.length; i++)
{
var contactSolver = this.contactSolvers[i];
@ -448,20 +448,17 @@ module Phaser.Physics.Advanced {
public genTemporalContactSolvers() {
//console.log('genTemporalContactSolvers');
//var t0 = Date.now();
Manager.write('genTemporalContactSolvers');
var newContactSolverArr = [];
var bl: number = this.bodyArr.length;
this.numContacts = 0;
for (var body1_index = 0; body1_index < this.bodyArr.length; body1_index++)
for (var body1_index = 0; body1_index < bl; body1_index++)
{
var body1: Body = this.bodyArr[body1_index];
//console.log('body1', body1_index, body1.type);
if (!body1)
{
continue;
@ -469,47 +466,16 @@ module Phaser.Physics.Advanced {
body1.stepCount = this.stepCount;
for (var body2_index = 0; body2_index < this.bodyArr.length; body2_index++)
for (var body2_index = 0; body2_index < bl; body2_index++)
{
var body2: Body = this.bodyArr[body2_index];
//console.log('body2', body2_index, body2.type);
if (!body2)
if (body1.inContact(body2) == false)
{
continue;
}
if (body1.stepCount == body2.stepCount)
{
continue;
}
//console.log('step');
var active1 = body1.isAwake && !body1.isStatic;
var active2 = body2.isAwake && !body2.isStatic;
if (!active1 && !active2)
{
continue;
}
//console.log('active');
if (!body1.isCollidable(body2))
{
continue;
}
//console.log('collideable');
if (!body1.bounds.intersectsBounds(body2.bounds))
{
continue;
}
//console.log('>>>>>>>>>> intersects');
Manager.write('body1 and body2 intersect');
for (var i = 0; i < body1.shapes.length; i++)
{
@ -536,6 +502,8 @@ module Phaser.Physics.Advanced {
var contactSolver = this.findContactSolver(shape1, shape2);
Manager.write('findContactSolver result: ' + contactSolver);
if (contactSolver)
{
contactSolver.update(contactArr);
@ -543,6 +511,8 @@ module Phaser.Physics.Advanced {
}
else
{
Manager.write('awake both bodies');
body1.awake(true);
body2.awake(true);
@ -551,20 +521,23 @@ module Phaser.Physics.Advanced {
newContactSolver.elasticity = Math.max(shape1.elasticity, shape2.elasticity);
newContactSolver.friction = Math.sqrt(shape1.friction * shape2.friction);
newContactSolverArr.push(newContactSolver);
Manager.write('new contact solver');
//console.log(newContactSolver);
}
}
}
}
}
//stats.timeCollision = Date.now() - t0;
return newContactSolverArr;
}
public initSolver(dt, dt_inv, warmStarting) {
Manager.write('initSolver');
Manager.write('contactSolvers.length: ' + this.contactSolvers.length);
//var t0 = Date.now();
// Initialize contact solvers
@ -596,6 +569,8 @@ module Phaser.Physics.Advanced {
public velocitySolver(iteration) {
Manager.write('velocitySolver, iterations: ' + iteration + ' csa len: ' + this.contactSolvers.length);
//var t0 = Date.now();
for (var i = 0; i < iteration; i++)
@ -614,17 +589,12 @@ module Phaser.Physics.Advanced {
}
}
//stats.timeVelocitySolver = Date.now() - t0;
}
public positionSolver(iteration) {
//var t0 = Date.now();
var positionSolved = false;
//stats.positionIterations = 0;
for (var i = 0; i < iteration; i++)
{
var contactsOk = true;
@ -651,47 +621,51 @@ module Phaser.Physics.Advanced {
positionSolved = true;
break;
}
//stats.positionIterations++;
}
//stats.timePositionSolver = Date.now() - t0;
return positionSolved;
}
public step(dt, vel_iteration, pos_iteration, warmStarting, allowSleep) {
var dt_inv = 1 / dt;
Manager.clear();
Manager.write('Space step ' + this.stepCount);
var dt_inv: number = 1 / dt;
var bl: number = this.bodyArr.length;
var jl: number = this.jointArr.length;
this.stepCount++;
// Generate contact & contactSolver
// 1) Generate Contact Solvers
this.contactSolvers = this.genTemporalContactSolvers();
// Initialize contacts & joints solver
Manager.dump("Contact Solvers", this.bodyArr[1]);
// 2) Initialize the Contact Solvers
this.initSolver(dt, dt_inv, warmStarting);
// Intergrate velocity
for (var i = 0; i < this.bodyArr.length; i++)
Manager.dump("Init Solver", this.bodyArr[1]);
// 3) Intergrate velocity
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!body)
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
{
continue;
}
if (body.isDynamic && body.isAwake)
{
body.updateVelocity(this.gravity, dt, this.damping);
this.bodyArr[i].updateVelocity(this.gravity, dt, this.damping);
}
}
for (var i = 0; i < this.jointArr.length; i++)
Manager.dump("Update Velocity", this.bodyArr[1]);
/*
// 4) Awaken bodies
for (var j = 0; i < jl; j++)
{
var joint = this.jointArr[i];
var joint = this.jointArr[j];
if (!joint)
{
@ -717,85 +691,72 @@ module Phaser.Physics.Advanced {
}
}
}
*/
// Iterative velocity constraints solver
// 5) Iterative velocity constraints solver
this.velocitySolver(vel_iteration);
// Intergrate position
for (var i = 0; i < this.bodyArr.length; i++)
Manager.dump("Velocity Solvers", this.bodyArr[1]);
// 6) Intergrate position
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!body)
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
{
continue
}
if (body.isDynamic && body.isAwake)
{
body.updatePosition(dt);
this.bodyArr[i].updatePosition(dt);
}
}
// Process breakable joint
for (var i = 0; i < this.jointArr.length; i++)
Manager.dump("Update Position", this.bodyArr[1]);
// 7) Process breakable joint
for (var i = 0; i < jl; i++)
{
var joint = this.jointArr[i];
if (!joint)
if (this.jointArr[i] && this.jointArr[i].breakable && (this.jointArr[i].getReactionForce(dt_inv).lengthSq() >= this.jointArr[i].maxForce * this.jointArr[i].maxForce))
{
continue;
}
if (joint.breakable)
{
if (joint.getReactionForce(dt_inv).lengthsq() >= joint.maxForce * joint.maxForce)
{
this.removeJoint(joint);
}
this.removeJoint(this.jointArr[i]);
}
}
// Iterative position constraints solver
// 8) Iterative position constraints solver
var positionSolved = this.positionSolver(pos_iteration);
for (var i = 0; i < this.bodyArr.length; i++)
Manager.dump("Position Solver", this.bodyArr[1]);
// 9) Sync the Transforms
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!body)
if (this.bodyArr[i])
{
continue;
this.bodyArr[i].syncTransform();
}
body.syncTransform();
}
// Post solve collision callback
Manager.dump("Sync Transform", this.bodyArr[1]);
// 10) Post solve collision callback
for (var i = 0; i < this.contactSolvers.length; i++)
{
var arb = this.contactSolvers[i];
// Re-enable this
//this.postSolve(arb);
}
for (var i = 0; i < this.bodyArr.length; i++)
// 11) Cache Body Data
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!body)
if (this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake)
{
continue;
}
if (body.isDynamic && body.isAwake)
{
body.cacheData();
this.bodyArr[i].cacheData('post solve collision callback');
}
}
// Process sleeping
Manager.dump("Cache Data", this.bodyArr[1]);
Manager.writeAll();
// 12) Process sleeping
/*
if (allowSleep)
{
var minSleepTime = 999999;
@ -803,16 +764,11 @@ module Phaser.Physics.Advanced {
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
for (var i = 0; i < this.bodyArr.length; i++)
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!body)
{
continue;
}
if (!body.isDynamic)
if (!this.bodyArr[i] || this.bodyArr[i].isDynamic == false)
{
continue;
}
@ -844,6 +800,7 @@ module Phaser.Physics.Advanced {
}
}
}
*/
}
}

8
Phaser/physics/advanced/shapes/Box.ts
View file

@ -17,10 +17,10 @@ module Phaser.Physics.Advanced.Shapes {
// Give in pixels
constructor(x, y, width, height) {
x = Manager.pixelsToMeters(x);
y = Manager.pixelsToMeters(y);
width = Manager.pixelsToMeters(width);
height = Manager.pixelsToMeters(height);
//x = Manager.pixelsToMeters(x);
//y = Manager.pixelsToMeters(y);
//width = Manager.pixelsToMeters(width);
//height = Manager.pixelsToMeters(height);
var hw = width * 0.5;
var hh = height * 0.5;

6
Phaser/physics/advanced/shapes/IShape.ts
View file

@ -33,6 +33,12 @@ module Phaser.Physics.Advanced {
findEdgeByPoint(p: Phaser.Vec2, minDist: number): number;
findVertexByPoint(p: Phaser.Vec2, minDist: number): number;
verts: Phaser.Vec2[];
planes: Phaser.Physics.Advanced.Plane[];
tverts: Phaser.Vec2[];
tplanes: Phaser.Physics.Advanced.Plane[];
convexity: bool;
}
}

77
Phaser/physics/advanced/shapes/Poly.ts
View file

@ -2,6 +2,7 @@
/// <reference path="../../../math/Vec2Utils.ts" />
/// <reference path="../Manager.ts" />
/// <reference path="../Body.ts" />
/// <reference path="../Plane.ts" />
/// <reference path="Shape.ts" />
/**
@ -22,7 +23,6 @@ module Phaser.Physics.Advanced.Shapes {
this.verts = [];
this.planes = [];
this.tverts = [];
this.tplanes = [];
@ -32,10 +32,8 @@ module Phaser.Physics.Advanced.Shapes {
{
this.verts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tverts[i] = this.verts[i];
this.tplanes[i] = {};
this.tplanes[i].n = new Phaser.Vec2;
this.tplanes[i].d = 0;
//this.tverts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2, 0);
}
}
@ -43,13 +41,6 @@ module Phaser.Physics.Advanced.Shapes {
}
public verts: Phaser.Vec2[];
public planes;
public tverts;
public tplanes;
public convexity: bool;
public finishVerts() {
@ -71,24 +62,21 @@ module Phaser.Physics.Advanced.Shapes {
var b = this.verts[(i + 1) % this.verts.length];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.planes[i] = {};
this.planes[i].n = n;
this.planes[i].d = Phaser.Vec2Utils.dot(n, a);
this.planes[i] = new Phaser.Physics.Advanced.Plane(n, Phaser.Vec2Utils.dot(n, a));
this.tverts[i] = this.verts[i];
this.tverts[i] = Phaser.Vec2Utils.clone(this.verts[i]); // reference???
//this.tverts[i] = this.verts[i]; // reference???
this.tplanes[i] = {};
this.tplanes[i].n = new Phaser.Vec2;
this.tplanes[i].d = 0;
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2, 0);
}
for (var i = 0; i < this.verts.length; i++)
{
var b = this.verts[(i + 2) % this.verts.length];
var n = this.planes[i].n;
var d = this.planes[i].d;
//var b = this.verts[(i + 2) % this.verts.length];
//var n = this.planes[i].normal;
//var d = this.planes[i].d;
if (Phaser.Vec2Utils.dot(n, b) - d > 0)
if (Phaser.Vec2Utils.dot(this.planes[i].normal, this.verts[(i + 2) % this.verts.length]) - this.planes[i].d > 0)
{
this.convexity = false;
}
@ -109,18 +97,23 @@ module Phaser.Physics.Advanced.Shapes {
}
public transform(xf) {
public transform(xf:Phaser.Transform) {
for (var i = 0; i < this.verts.length; i++)
{
this.verts[i] = xf.transform(this.verts[i]);
this.verts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.verts[i] = xf.transform(this.verts[i]);
}
}
public untransform(xf) {
public untransform(xf:Phaser.Transform) {
for (var i = 0; i < this.verts.length; i++)
{
this.verts[i] = xf.untransform(this.verts[i]);
this.verts[i] = Phaser.TransformUtils.untransform(xf, this.verts[i]);
//this.verts[i] = xf.untransform(this.verts[i]);
}
}
public area(): number {
@ -141,7 +134,7 @@ module Phaser.Physics.Advanced.Shapes {
var numVerts = this.verts.length;
console.log('Poly cacheData', numVerts, this.body.name);
Manager.write('----------- Poly cacheData = ' + numVerts);
if (numVerts == 0)
{
@ -150,8 +143,9 @@ module Phaser.Physics.Advanced.Shapes {
for (var i = 0; i < numVerts; i++)
{
Phaser.TransformUtils.transform(xf, this.tverts[i], this.tverts[i]);
this.tverts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.tverts[i] = xf.transform(this.verts[i]);
Manager.write('tvert' + i + ' = ' + this.tverts[i].toString());
}
if (numVerts < 2)
@ -164,13 +158,20 @@ module Phaser.Physics.Advanced.Shapes {
{
var a = this.tverts[i];
var b = this.tverts[(i + 1) % numVerts];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.tplanes[i].n = n;
Manager.write('a = ' + a.toString());
Manager.write('b = ' + b.toString());
Manager.write('n = ' + n.toString());
this.tplanes[i].normal = n;
this.tplanes[i].d = Phaser.Vec2Utils.dot(n, a);
Manager.write('tplanes' + i + ' n = ' + this.tplanes[i].normal.toString());
Manager.write('tplanes' + i + ' d = ' + this.tplanes[i].d.toString());
this.bounds.addPoint(a);
}
}
@ -209,7 +210,7 @@ module Phaser.Physics.Advanced.Shapes {
{
var v1 = this.tverts[i];
var v2 = this.tverts[(i + 1) % numVerts];
var n = this.tplanes[i].n;
var n = this.tplanes[i].normal;
var dtv1 = Phaser.Vec2Utils.cross(v1, n);
var dtv2 = Phaser.Vec2Utils.cross(v2, n);
@ -244,9 +245,9 @@ module Phaser.Physics.Advanced.Shapes {
}
public distanceOnPlane(n, d) {
public distanceOnPlane(n: Phaser.Vec2, d:number) {
var min = 999999;
var min: number = 999999;
for (var i = 0; i < this.verts.length; i++)
{
@ -257,13 +258,13 @@ module Phaser.Physics.Advanced.Shapes {
}
public containPoint(p) {
public containPoint(p: Phaser.Vec2) {
for (var i = 0; i < this.verts.length; i++)
{
var plane = this.tplanes[i];
if (Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0)
if (Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0)
{
return false;
}
@ -279,12 +280,12 @@ module Phaser.Physics.Advanced.Shapes {
{
var plane = this.tplanes[i];
if (Phaser.Vec2Utils.dot(plane.n, n) < 0.0001)
if (Phaser.Vec2Utils.dot(plane.normal, n) < 0.0001)
{
continue;
}
if (Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0)
if (Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0)
{
return false;
}

8
Phaser/physics/advanced/shapes/Shape.ts
View file

@ -32,6 +32,14 @@ module Phaser.Physics.Advanced {
public type: number;
public body: Body;
public verts: Phaser.Vec2[];
public planes: Phaser.Physics.Advanced.Plane[];
public tverts: Phaser.Vec2[];
public tplanes: Phaser.Physics.Advanced.Plane[];
public convexity: bool;
// Coefficient of restitution (elasticity)
public elasticity: number;

547
Tests/phaser.js
View file

@ -955,7 +955,8 @@ var Phaser;
* @return {string} a string representation of the object.
**/
function () {
return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
//return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
return "x=" + this.x + " y=" + this.y;
};
return Vec2;
})();
@ -16496,19 +16497,15 @@ var Phaser;
function (pointer1, pointer2) {
return Phaser.Vec2Utils.angle(pointer1.position, pointer2.position);
};
Input.prototype.pixelPerfectCheck = function (sprite, pointer, alpha) {
if (typeof alpha === "undefined") { alpha = 255; }
this.hitContext.clearRect(0, 0, 1, 1);
return true;
};
return Input;
})();
Phaser.Input = Input;
/*
public pixelPerfectCheck(sprite: Phaser.Sprite, pointer: Phaser.Pointer, alpha: number = 255): bool {
this.hitContext.clearRect(0, 0, 1, 1);
return true;
}
*/
})(Phaser || (Phaser = {}));
})(Phaser || (Phaser = {}));
/// <reference path="../Game.ts" />
/// <reference path="../cameras/Camera.ts" />
/// <reference path="IRenderer.ts" />
@ -18073,7 +18070,11 @@ var Phaser;
this.t = Phaser.Vec2Utils.clone(pos);
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
Transform.prototype.toString = function () {
return 't=' + this.t.toString() + ' c=' + this.c + ' s=' + this.s + ' a=' + this.angle;
};
Transform.prototype.setTo = function (pos, angle) {
this.t.copyFrom(pos);
this.c = Math.cos(angle);
@ -18081,8 +18082,11 @@ var Phaser;
return this;
};
Transform.prototype.setRotation = function (angle) {
this.c = Math.cos(angle);
this.s = Math.sin(angle);
if(angle !== this.angle) {
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
return this;
};
Transform.prototype.setPosition = function (p) {
@ -18114,20 +18118,24 @@ var Phaser;
function TransformUtils() { }
TransformUtils.rotate = function rotate(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c - v.y * this.s, v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c - v.y * t.s, v.x * t.s + v.y * t.c);
};
TransformUtils.unrotate = function unrotate(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c + v.y * this.s, -v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c + v.y * t.s, -v.x * t.s + v.y * t.c);
};
TransformUtils.transform = function transform(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c - v.y * this.s + this.t.x, v.x * this.s + v.y * this.c + this.t.y);
return out.setTo(v.x * t.c - v.y * t.s + t.t.x, v.x * t.s + v.y * t.c + t.t.y);
};
TransformUtils.untransform = function untransform(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
var px = v.x - t.t.x;
var py = v.y - t.t.y;
//return new vec2(px * this.c + py * this.s, -px * this.s + py * this.c);
return out.setTo(px * t.c + py * t.s, -px * t.s + py * t.c);
};
return TransformUtils;
@ -19150,14 +19158,58 @@ var Phaser;
this.paused = false;
this.step = false;
// step through the simulation (i.e. per click)
//public paused: bool = true;
//public step: bool = false; // step through the simulation (i.e. per click)
this.velocityIterations = 8;
this.positionIterations = 4;
//public velocityIterations: number = 1;
//public positionIterations: number = 1;
this.allowSleep = true;
this.warmStarting = true;
this.game = game;
this.space = new Advanced.Space();
Manager.collision = new Advanced.Collision();
}
Manager.clear = function clear() {
Manager.debug.textContent = "";
Manager.log = [];
};
Manager.write = function write(s) {
//Manager.debug.textContent += s + "\n";
};
Manager.writeAll = function writeAll() {
for(var i = 0; i < Manager.log.length; i++) {
//Manager.debug.textContent += Manager.log[i];
}
};
Manager.log = [];
Manager.dump = function dump(phase, body) {
var s = "\n\nPhase: " + phase + "\n";
s += "Position: " + body.position.toString() + "\n";
s += "Velocity: " + body.velocity.toString() + "\n";
s += "Angle: " + body.angle + "\n";
s += "Force: " + body.force.toString() + "\n";
s += "Torque: " + body.torque + "\n";
s += "Bounds: " + body.bounds.toString() + "\n";
s += "Shape ***\n";
s += "Vert 0: " + body.shapes[0].verts[0].toString() + "\n";
s += "Vert 1: " + body.shapes[0].verts[1].toString() + "\n";
s += "Vert 2: " + body.shapes[0].verts[2].toString() + "\n";
s += "Vert 3: " + body.shapes[0].verts[3].toString() + "\n";
s += "TVert 0: " + body.shapes[0].tverts[0].toString() + "\n";
s += "TVert 1: " + body.shapes[0].tverts[1].toString() + "\n";
s += "TVert 2: " + body.shapes[0].tverts[2].toString() + "\n";
s += "TVert 3: " + body.shapes[0].tverts[3].toString() + "\n";
s += "Plane 0: " + body.shapes[0].planes[0].normal.toString() + "\n";
s += "Plane 1: " + body.shapes[0].planes[1].normal.toString() + "\n";
s += "Plane 2: " + body.shapes[0].planes[2].normal.toString() + "\n";
s += "Plane 3: " + body.shapes[0].planes[3].normal.toString() + "\n";
s += "TPlane 0: " + body.shapes[0].tplanes[0].normal.toString() + "\n";
s += "TPlane 1: " + body.shapes[0].tplanes[1].normal.toString() + "\n";
s += "TPlane 2: " + body.shapes[0].tplanes[2].normal.toString() + "\n";
s += "TPlane 3: " + body.shapes[0].tplanes[3].normal.toString() + "\n";
Manager.log.push(s);
};
Manager.SHAPE_TYPE_CIRCLE = 0;
Manager.SHAPE_TYPE_SEGMENT = 1;
Manager.SHAPE_TYPE_POLY = 2;
@ -19197,6 +19249,7 @@ var Phaser;
// //domCanvas.style.cursor = body ? "pointer" : "default";
//}
if(!this.paused || this.step) {
Manager.clear();
var h = 1 / this.frameRateHz;
this.timeDelta += frameTime;
if(this.step) {
@ -19649,7 +19702,6 @@ var Phaser;
(function (Advanced) {
var ContactSolver = (function () {
function ContactSolver(shape1, shape2) {
//console.log('ContactSolver super');
this.shape1 = shape1;
this.shape2 = shape2;
this.contacts = [];
@ -19733,24 +19785,32 @@ var Phaser;
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
//var impulse = new vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
//console.log('phaser warmStart impulse ' + i + ' = ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -body1.massInverted);
//body1.v.mad(impulse, -body1.m_inv);
body1.angularVelocity -= Phaser.Vec2Utils.cross(con.r1, impulse) * body1.inertiaInverted;
//body1.w -= vec2.cross(con.r1, impulse) * body1.i_inv;
body2.velocity.multiplyAddByScalar(impulse, -body2.massInverted);
body2.velocity.multiplyAddByScalar(impulse, body2.massInverted);
//body2.v.mad(impulse, body2.m_inv);
body2.angularVelocity -= Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
body2.angularVelocity += Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
//body2.w += vec2.cross(con.r2, impulse) * body2.i_inv;
}
};
ContactSolver.prototype.solveVelocityConstraints = function () {
var body1 = this.shape1.body;
var body2 = this.shape2.body;
Advanced.Manager.write('solveVelocityConstraints. Body1: ' + body1.name + ' Body2: ' + body2.name);
Advanced.Manager.write('Shape 1: ' + this.shape1.type + ' Shape 2: ' + this.shape2.type);
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
var i2_inv = body2.inertiaInverted;
Advanced.Manager.write('m1_inv: ' + m1_inv);
Advanced.Manager.write('i1_inv: ' + i1_inv);
Advanced.Manager.write('m2_inv: ' + m2_inv);
Advanced.Manager.write('i2_inv: ' + i2_inv);
for(var i = 0; i < this.contacts.length; i++) {
Advanced.Manager.write('------------ solve con ' + i);
var con = this.contacts[i];
var n = con.normal;
var t = Phaser.Vec2Utils.perp(n);
@ -19762,19 +19822,25 @@ var Phaser;
var v2 = new Phaser.Vec2();
Phaser.Vec2Utils.multiplyAdd(body1.velocity, Phaser.Vec2Utils.perp(r1), body1.angularVelocity, v1);
//var v1 = vec2.mad(body1.v, vec2.perp(r1), body1.w);
Advanced.Manager.write('v1 ' + v1.toString());
Phaser.Vec2Utils.multiplyAdd(body2.velocity, Phaser.Vec2Utils.perp(r2), body2.angularVelocity, v2);
//var v2 = vec2.mad(body2.v, vec2.perp(r2), body2.w);
Advanced.Manager.write('v2 ' + v2.toString());
// Relative velocity at contact point
var rv = new Phaser.Vec2();
Phaser.Vec2Utils.subtract(v2, v1, rv);
//var rv = vec2.sub(v2, v1);
Advanced.Manager.write('rv ' + rv.toString());
// Compute normal constraint impulse + adding bounce as a velocity bias
// lambda_n = -EMn * J * V
var lambda_n = -con.emn * (Phaser.Vec2Utils.dot(n, rv) + con.bounce);
Advanced.Manager.write('lambda_n: ' + lambda_n);
// Accumulate and clamp
var lambda_n_old = con.lambdaNormal;
con.lambdaNormal = Math.max(lambda_n_old + lambda_n, 0);
//con.lambdaNormal = this.clamp(lambda_n_old + lambda_n, 0);
lambda_n = con.lambdaNormal - lambda_n_old;
Advanced.Manager.write('lambda_n clamped: ' + lambda_n);
// Compute frictional constraint impulse
// lambda_t = -EMt * J * V
var lambda_t = -con.emt * Phaser.Vec2Utils.dot(t, rv);
@ -19787,19 +19853,23 @@ var Phaser;
// Apply the final impulses
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
Advanced.Manager.write('impulse: ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -m1_inv);
//body1.v.mad(impulse, -m1_inv);
body1.angularVelocity -= Phaser.Vec2Utils.cross(r1, impulse) * i1_inv;
//body1.w -= vec2.cross(r1, impulse) * i1_inv;
body2.velocity.multiplyAddByScalar(impulse, m2_inv);
//body2.v.mad(impulse, m2_inv);
body1.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
body2.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
//body2.w += vec2.cross(r2, impulse) * i2_inv;
}
Advanced.Manager.write('body1: ' + body1.toString());
Advanced.Manager.write('body2: ' + body2.toString());
}
};
ContactSolver.prototype.solvePositionConstraints = function () {
var body1 = this.shape1.body;
var body2 = this.shape2.body;
Advanced.Manager.write('solvePositionConstraints');
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
@ -19807,6 +19877,7 @@ var Phaser;
var sum_m_inv = m1_inv + m2_inv;
var max_penetration = 0;
for(var i = 0; i < this.contacts.length; i++) {
Advanced.Manager.write('------------- solvePositionConstraints ' + i);
var con = this.contacts[i];
var n = con.normal;
var r1 = new Phaser.Vec2();
@ -19816,6 +19887,10 @@ var Phaser;
//var r1 = vec2.rotate(con.r1_local, body1.a);
Phaser.Vec2Utils.rotate(con.r2_local, body2.angle, r2);
//var r2 = vec2.rotate(con.r2_local, body2.a);
Advanced.Manager.write('r1_local.x = ' + con.r1_local.x + ' r1_local.y = ' + con.r1_local.y + ' angle: ' + body1.angle);
Advanced.Manager.write('r1 rotated: r1.x = ' + r1.x + ' r1.y = ' + r1.y);
Advanced.Manager.write('r2_local.x = ' + con.r2_local.x + ' r2_local.y = ' + con.r2_local.y + ' angle: ' + body2.angle);
Advanced.Manager.write('r2 rotated: r2.x = ' + r2.x + ' r2.y = ' + r2.y);
// Contact points (corrected)
var p1 = new Phaser.Vec2();
var p2 = new Phaser.Vec2();
@ -19823,9 +19898,11 @@ var Phaser;
//var p1 = vec2.add(body1.p, r1);
Phaser.Vec2Utils.add(body2.position, r2, p2);
//var p2 = vec2.add(body2.p, r2);
Advanced.Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Advanced.Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
// Corrected delta vector
var dp = new Phaser.Vec2();
Phaser.Vec2Utils.subtract(p2, p1);
Phaser.Vec2Utils.subtract(p2, p1, dp);
//var dp = vec2.sub(p2, p1);
// Position constraint
var c = Phaser.Vec2Utils.dot(dp, n) + con.depth;
@ -19851,7 +19928,10 @@ var Phaser;
body2.position.multiplyAddByScalar(impulse_dt, m2_inv);
//body2.p.mad(impulse_dt, m2_inv);
body2.angle += sn2 * lambda_dt * i2_inv;
Advanced.Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Advanced.Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
}
Advanced.Manager.write('max_penetration: ' + max_penetration);
return max_penetration <= Advanced.Manager.CONTACT_SOLVER_COLLISION_SLOP * 3;
};
ContactSolver.prototype.clamp = function (v, min, max) {
@ -19951,6 +20031,32 @@ var Phaser;
var Physics = Phaser.Physics;
})(Phaser || (Phaser = {}));
var Phaser;
(function (Phaser) {
(function (Physics) {
/// <reference path="../../math/Vec2.ts" />
/// <reference path="../../math/Vec2Utils.ts" />
/// <reference path="Manager.ts" />
/// <reference path="Body.ts" />
/**
* Phaser - Advanced Physics - Plane
*
* Based on the work Ju Hyung Lee started in JS PhyRus.
*/
(function (Advanced) {
var Plane = (function () {
function Plane(normal, d) {
this.normal = normal;
this.d = d;
}
return Plane;
})();
Advanced.Plane = Plane;
})(Physics.Advanced || (Physics.Advanced = {}));
var Advanced = Physics.Advanced;
})(Phaser.Physics || (Phaser.Physics = {}));
var Physics = Phaser.Physics;
})(Phaser || (Phaser = {}));
var Phaser;
(function (Phaser) {
(function (Physics) {
(function (Advanced) {
@ -19958,6 +20064,7 @@ var Phaser;
/// <reference path="../../../math/Vec2Utils.ts" />
/// <reference path="../Manager.ts" />
/// <reference path="../Body.ts" />
/// <reference path="../Plane.ts" />
/// <reference path="Shape.ts" />
/**
* Phaser - Advanced Physics - Shapes - Convex Polygon
@ -19979,10 +20086,8 @@ var Phaser;
for(var i = 0; i < verts.length; i++) {
this.verts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tverts[i] = this.verts[i];
this.tplanes[i] = {
};
this.tplanes[i].n = new Phaser.Vec2();
this.tplanes[i].d = 0;
//this.tverts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2(), 0);
}
}
this.finishVerts();
@ -20001,21 +20106,17 @@ var Phaser;
var a = this.verts[i];
var b = this.verts[(i + 1) % this.verts.length];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.planes[i] = {
};
this.planes[i].n = n;
this.planes[i].d = Phaser.Vec2Utils.dot(n, a);
this.tverts[i] = this.verts[i];
this.tplanes[i] = {
};
this.tplanes[i].n = new Phaser.Vec2();
this.tplanes[i].d = 0;
this.planes[i] = new Phaser.Physics.Advanced.Plane(n, Phaser.Vec2Utils.dot(n, a));
this.tverts[i] = Phaser.Vec2Utils.clone(this.verts[i])// reference???
;
//this.tverts[i] = this.verts[i]; // reference???
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2(), 0);
}
for(var i = 0; i < this.verts.length; i++) {
var b = this.verts[(i + 2) % this.verts.length];
var n = this.planes[i].n;
var d = this.planes[i].d;
if(Phaser.Vec2Utils.dot(n, b) - d > 0) {
//var b = this.verts[(i + 2) % this.verts.length];
//var n = this.planes[i].normal;
//var d = this.planes[i].d;
if(Phaser.Vec2Utils.dot(this.planes[i].normal, this.verts[(i + 2) % this.verts.length]) - this.planes[i].d > 0) {
this.convexity = false;
}
}
@ -20030,13 +20131,15 @@ var Phaser;
};
Poly.prototype.transform = function (xf) {
for(var i = 0; i < this.verts.length; i++) {
this.verts[i] = xf.transform(this.verts[i]);
}
this.verts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.verts[i] = xf.transform(this.verts[i]);
}
};
Poly.prototype.untransform = function (xf) {
for(var i = 0; i < this.verts.length; i++) {
this.verts[i] = xf.untransform(this.verts[i]);
}
this.verts[i] = Phaser.TransformUtils.untransform(xf, this.verts[i]);
//this.verts[i] = xf.untransform(this.verts[i]);
}
};
Poly.prototype.area = function () {
return Advanced.Manager.areaForPoly(this.verts);
@ -20050,14 +20153,15 @@ var Phaser;
Poly.prototype.cacheData = function (xf) {
this.bounds.clear();
var numVerts = this.verts.length;
console.log('Poly cacheData', numVerts, this.body.name);
Advanced.Manager.write('----------- Poly cacheData = ' + numVerts);
if(numVerts == 0) {
return;
}
for(var i = 0; i < numVerts; i++) {
Phaser.TransformUtils.transform(xf, this.tverts[i], this.tverts[i]);
this.tverts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.tverts[i] = xf.transform(this.verts[i]);
}
Advanced.Manager.write('tvert' + i + ' = ' + this.tverts[i].toString());
}
if(numVerts < 2) {
this.bounds.addPoint(this.tverts[0]);
return;
@ -20066,8 +20170,13 @@ var Phaser;
var a = this.tverts[i];
var b = this.tverts[(i + 1) % numVerts];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.tplanes[i].n = n;
Advanced.Manager.write('a = ' + a.toString());
Advanced.Manager.write('b = ' + b.toString());
Advanced.Manager.write('n = ' + n.toString());
this.tplanes[i].normal = n;
this.tplanes[i].d = Phaser.Vec2Utils.dot(n, a);
Advanced.Manager.write('tplanes' + i + ' n = ' + this.tplanes[i].normal.toString());
Advanced.Manager.write('tplanes' + i + ' d = ' + this.tplanes[i].d.toString());
this.bounds.addPoint(a);
}
};
@ -20092,7 +20201,7 @@ var Phaser;
for(var i = 0; i < this.tverts.length; i++) {
var v1 = this.tverts[i];
var v2 = this.tverts[(i + 1) % numVerts];
var n = this.tplanes[i].n;
var n = this.tplanes[i].normal;
var dtv1 = Phaser.Vec2Utils.cross(v1, n);
var dtv2 = Phaser.Vec2Utils.cross(v2, n);
var dt = Phaser.Vec2Utils.cross(p, n);
@ -20123,7 +20232,7 @@ var Phaser;
Poly.prototype.containPoint = function (p) {
for(var i = 0; i < this.verts.length; i++) {
var plane = this.tplanes[i];
if(Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0) {
if(Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0) {
return false;
}
}
@ -20132,10 +20241,10 @@ var Phaser;
Poly.prototype.containPointPartial = function (p, n) {
for(var i = 0; i < this.verts.length; i++) {
var plane = this.tplanes[i];
if(Phaser.Vec2Utils.dot(plane.n, n) < 0.0001) {
if(Phaser.Vec2Utils.dot(plane.normal, n) < 0.0001) {
continue;
}
if(Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0) {
if(Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0) {
return false;
}
}
@ -20412,7 +20521,7 @@ var Phaser;
var minIdx = -1;
for(var i = 0; i < poly.verts.length; i++) {
var plane = poly.tplanes[i];
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.n) - plane.d - circ.radius;
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.normal) - plane.d - circ.radius;
if(dist > 0) {
return 0;
} else if(dist > minDist) {
@ -20420,7 +20529,7 @@ var Phaser;
minIdx = i;
}
}
var n = poly.tplanes[minIdx].n;
var n = poly.tplanes[minIdx].normal;
var a = poly.tverts[minIdx];
var b = poly.tverts[(minIdx + 1) % poly.verts.length];
var dta = Phaser.Vec2Utils.cross(a, n);
@ -20529,7 +20638,7 @@ var Phaser;
var poly_i = -1;
for(var i = 0; i < poly.verts.length; i++) {
var plane = poly.tplanes[i];
var dist = seg.distanceOnPlane(plane.n, plane.d);
var dist = seg.distanceOnPlane(plane.normal, plane.d);
if(dist > 0) {
return 0;
}
@ -20539,7 +20648,7 @@ var Phaser;
}
}
var poly_n = new Phaser.Vec2();
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].n, poly_n);
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].normal, poly_n);
//var poly_n = vec2.neg(poly.tplanes[poly_i].n);
var va = new Phaser.Vec2();
Phaser.Vec2Utils.multiplyAdd(seg.ta, poly_n, seg.radius, va);
@ -20587,7 +20696,7 @@ var Phaser;
var min_dist = -999999;
var min_index = -1;
for(var i = 0; i < num; i++) {
var dist = poly.distanceOnPlane(planes[i].n, planes[i].d);
var dist = poly.distanceOnPlane(planes[i].normal, planes[i].d);
if(dist > 0) {
// no collision
return {
@ -20645,17 +20754,19 @@ var Phaser;
Collision.prototype.poly2Poly = function (poly1, poly2, contactArr) {
var msa1 = this.findMSA(poly2, poly1.tplanes, poly1.verts.length);
if(msa1.index == -1) {
console.log('poly2poly 0', msa1);
return 0;
}
var msa2 = this.findMSA(poly1, poly2.tplanes, poly2.verts.length);
if(msa2.index == -1) {
console.log('poly2poly 1', msa2);
return 0;
}
// Penetration normal direction shoud be from poly1 to poly2
// Penetration normal direction should be from poly1 to poly2
if(msa1.dist > msa2.dist) {
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].n, msa1.dist);
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].normal, msa1.dist);
}
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].n), msa2.dist);
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].normal), msa2.dist);
};
return Collision;
})();
@ -20729,12 +20840,11 @@ var Phaser;
if(this.bodyHash[body.id] != undefined) {
return;
}
//console.log('Body added to space', body.name);
var index = this.bodyArr.push(body) - 1;
this.bodyHash[body.id] = index;
body.awake(true);
body.space = this;
body.cacheData();
body.cacheData('addBody');
};
Space.prototype.removeBody = function (body) {
if(this.bodyHash[body.id] == undefined) {
@ -20939,6 +21049,7 @@ var Phaser;
return firstJointId;
};
Space.prototype.findContactSolver = function (shape1, shape2) {
Advanced.Manager.write('findContactSolver. Length: ' + this.contactSolvers.length);
for(var i = 0; i < this.contactSolvers.length; i++) {
var contactSolver = this.contactSolvers[i];
if(shape1 == contactSolver.shape1 && shape2 == contactSolver.shape2) {
@ -20948,41 +21059,22 @@ var Phaser;
return null;
};
Space.prototype.genTemporalContactSolvers = function () {
//console.log('genTemporalContactSolvers');
//var t0 = Date.now();
Advanced.Manager.write('genTemporalContactSolvers');
var newContactSolverArr = [];
var bl = this.bodyArr.length;
this.numContacts = 0;
for(var body1_index = 0; body1_index < this.bodyArr.length; body1_index++) {
for(var body1_index = 0; body1_index < bl; body1_index++) {
var body1 = this.bodyArr[body1_index];
//console.log('body1', body1_index, body1.type);
if(!body1) {
continue;
}
body1.stepCount = this.stepCount;
for(var body2_index = 0; body2_index < this.bodyArr.length; body2_index++) {
for(var body2_index = 0; body2_index < bl; body2_index++) {
var body2 = this.bodyArr[body2_index];
//console.log('body2', body2_index, body2.type);
if(!body2) {
if(body1.inContact(body2) == false) {
continue;
}
if(body1.stepCount == body2.stepCount) {
continue;
}
//console.log('step');
var active1 = body1.isAwake && !body1.isStatic;
var active2 = body2.isAwake && !body2.isStatic;
if(!active1 && !active2) {
continue;
}
//console.log('active');
if(!body1.isCollidable(body2)) {
continue;
}
//console.log('collideable');
if(!body1.bounds.intersectsBounds(body2.bounds)) {
continue;
}
//console.log('>>>>>>>>>> intersects');
Advanced.Manager.write('body1 and body2 intersect');
for(var i = 0; i < body1.shapes.length; i++) {
for(var j = 0; j < body2.shapes.length; j++) {
var shape1 = body1.shapes[i];
@ -20998,10 +21090,12 @@ var Phaser;
}
this.numContacts += contactArr.length;
var contactSolver = this.findContactSolver(shape1, shape2);
Advanced.Manager.write('findContactSolver result: ' + contactSolver);
if(contactSolver) {
contactSolver.update(contactArr);
newContactSolverArr.push(contactSolver);
} else {
Advanced.Manager.write('awake both bodies');
body1.awake(true);
body2.awake(true);
var newContactSolver = new Advanced.ContactSolver(shape1, shape2);
@ -21009,15 +21103,18 @@ var Phaser;
newContactSolver.elasticity = Math.max(shape1.elasticity, shape2.elasticity);
newContactSolver.friction = Math.sqrt(shape1.friction * shape2.friction);
newContactSolverArr.push(newContactSolver);
}
Advanced.Manager.write('new contact solver');
//console.log(newContactSolver);
}
}
}
}
}
//stats.timeCollision = Date.now() - t0;
return newContactSolverArr;
};
Space.prototype.initSolver = function (dt, dt_inv, warmStarting) {
Advanced.Manager.write('initSolver');
Advanced.Manager.write('contactSolvers.length: ' + this.contactSolvers.length);
//var t0 = Date.now();
// Initialize contact solvers
for(var i = 0; i < this.contactSolvers.length; i++) {
@ -21038,6 +21135,7 @@ var Phaser;
//stats.timeInitSolver = Date.now() - t0;
};
Space.prototype.velocitySolver = function (iteration) {
Advanced.Manager.write('velocitySolver, iterations: ' + iteration + ' csa len: ' + this.contactSolvers.length);
//var t0 = Date.now();
for(var i = 0; i < iteration; i++) {
for(var j = 0; j < this.jointArr.length; j++) {
@ -21049,12 +21147,9 @@ var Phaser;
this.contactSolvers[j].solveVelocityConstraints();
}
}
//stats.timeVelocitySolver = Date.now() - t0;
};
};
Space.prototype.positionSolver = function (iteration) {
//var t0 = Date.now();
var positionSolved = false;
//stats.positionIterations = 0;
for(var i = 0; i < iteration; i++) {
var contactsOk = true;
var jointsOk = true;
@ -21073,126 +21168,147 @@ var Phaser;
positionSolved = true;
break;
}
//stats.positionIterations++;
}
//stats.timePositionSolver = Date.now() - t0;
}
return positionSolved;
};
Space.prototype.step = function (dt, vel_iteration, pos_iteration, warmStarting, allowSleep) {
Advanced.Manager.clear();
Advanced.Manager.write('Space step ' + this.stepCount);
var dt_inv = 1 / dt;
var bl = this.bodyArr.length;
var jl = this.jointArr.length;
this.stepCount++;
// Generate contact & contactSolver
// 1) Generate Contact Solvers
this.contactSolvers = this.genTemporalContactSolvers();
// Initialize contacts & joints solver
Advanced.Manager.dump("Contact Solvers", this.bodyArr[1]);
// 2) Initialize the Contact Solvers
this.initSolver(dt, dt_inv, warmStarting);
// Intergrate velocity
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.updateVelocity(this.gravity, dt, this.damping);
Advanced.Manager.dump("Init Solver", this.bodyArr[1]);
// 3) Intergrate velocity
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].updateVelocity(this.gravity, dt, this.damping);
}
}
for(var i = 0; i < this.jointArr.length; i++) {
var joint = this.jointArr[i];
if(!joint) {
continue;
}
var body1 = joint.body1;
var body2 = joint.body2;
var awake1 = body1.isAwake && !body1.isStatic;
var awake2 = body2.isAwake && !body2.isStatic;
if(awake1 ^ awake2) {
if(!awake1) {
body1.awake(true);
}
if(!awake2) {
body2.awake(true);
}
}
Advanced.Manager.dump("Update Velocity", this.bodyArr[1]);
/*
// 4) Awaken bodies
for (var j = 0; i < jl; j++)
{
var joint = this.jointArr[j];
if (!joint)
{
continue;
}
// Iterative velocity constraints solver
var body1 = joint.body1;
var body2 = joint.body2;
var awake1 = body1.isAwake && !body1.isStatic;
var awake2 = body2.isAwake && !body2.isStatic;
if (awake1 ^ awake2)
{
if (!awake1)
{
body1.awake(true);
}
if (!awake2)
{
body2.awake(true);
}
}
}
*/
// 5) Iterative velocity constraints solver
this.velocitySolver(vel_iteration);
// Intergrate position
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.updatePosition(dt);
Advanced.Manager.dump("Velocity Solvers", this.bodyArr[1]);
// 6) Intergrate position
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].updatePosition(dt);
}
}
// Process breakable joint
for(var i = 0; i < this.jointArr.length; i++) {
var joint = this.jointArr[i];
if(!joint) {
continue;
}
if(joint.breakable) {
if(joint.getReactionForce(dt_inv).lengthsq() >= joint.maxForce * joint.maxForce) {
this.removeJoint(joint);
}
Advanced.Manager.dump("Update Position", this.bodyArr[1]);
// 7) Process breakable joint
for(var i = 0; i < jl; i++) {
if(this.jointArr[i] && this.jointArr[i].breakable && (this.jointArr[i].getReactionForce(dt_inv).lengthSq() >= this.jointArr[i].maxForce * this.jointArr[i].maxForce)) {
this.removeJoint(this.jointArr[i]);
}
}
// Iterative position constraints solver
// 8) Iterative position constraints solver
var positionSolved = this.positionSolver(pos_iteration);
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
Advanced.Manager.dump("Position Solver", this.bodyArr[1]);
// 9) Sync the Transforms
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i]) {
this.bodyArr[i].syncTransform();
}
body.syncTransform();
}
// Post solve collision callback
Advanced.Manager.dump("Sync Transform", this.bodyArr[1]);
// 10) Post solve collision callback
for(var i = 0; i < this.contactSolvers.length; i++) {
var arb = this.contactSolvers[i];
// Re-enable this
//this.postSolve(arb);
}
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.cacheData();
// 11) Cache Body Data
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].cacheData('post solve collision callback');
}
}
// Process sleeping
if(allowSleep) {
var minSleepTime = 999999;
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(!body.isDynamic) {
continue;
}
if(body.angularVelocity * body.angularVelocity > angTolSqr || body.velocity.dot(body.velocity) > linTolSqr) {
body.sleepTime = 0;
minSleepTime = 0;
} else {
body.sleepTime += dt;
minSleepTime = Math.min(minSleepTime, body.sleepTime);
}
}
if(positionSolved && minSleepTime >= Space.TIME_TO_SLEEP) {
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
body.awake(false);
}
}
Advanced.Manager.dump("Cache Data", this.bodyArr[1]);
Advanced.Manager.writeAll();
// 12) Process sleeping
/*
if (allowSleep)
{
var minSleepTime = 999999;
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!this.bodyArr[i] || this.bodyArr[i].isDynamic == false)
{
continue;
}
};
if (body.angularVelocity * body.angularVelocity > angTolSqr || body.velocity.dot(body.velocity) > linTolSqr)
{
body.sleepTime = 0;
minSleepTime = 0;
}
else
{
body.sleepTime += dt;
minSleepTime = Math.min(minSleepTime, body.sleepTime);
}
}
if (positionSolved && minSleepTime >= Space.TIME_TO_SLEEP)
{
for (var i = 0; i < this.bodyArr.length; i++)
{
var body = this.bodyArr[i];
if (!body)
{
continue;
}
body.awake(false);
}
}
}
*/
};
return Space;
})();
Advanced.Space = Space;
@ -21269,10 +21385,10 @@ var Phaser;
__extends(Box, _super);
// Give in pixels
function Box(x, y, width, height) {
x = Advanced.Manager.pixelsToMeters(x);
y = Advanced.Manager.pixelsToMeters(y);
width = Advanced.Manager.pixelsToMeters(width);
height = Advanced.Manager.pixelsToMeters(height);
//x = Manager.pixelsToMeters(x);
//y = Manager.pixelsToMeters(y);
//width = Manager.pixelsToMeters(width);
//height = Manager.pixelsToMeters(height);
var hw = width * 0.5;
var hh = height * 0.5;
_super.call(this, [
@ -21375,6 +21491,9 @@ var Phaser;
this.maskBits = 0xFFFF;
this.stepCount = 0;
}
Body.prototype.toString = function () {
return "[{Body (name=" + this.name + " velocity=" + this.velocity.toString() + " angularVelocity: " + this.angularVelocity + ")}]";
};
Body.prototype.duplicate = function () {
//console.log('body duplicate called');
//var body = new Body(this.type, this.transform.t, this.angle);
@ -21498,19 +21617,25 @@ var Phaser;
Body.prototype.setTransform = function (pos, angle) {
this.transform.setTo(pos, angle);
// inject the transform into this.position
Advanced.Manager.write('setTransform: ' + this.position.toString());
Advanced.Manager.write('centroid: ' + this.centroid.toString());
Phaser.TransformUtils.transform(this.transform, this.centroid, this.position);
Advanced.Manager.write('post setTransform: ' + this.position.toString());
//this.position.copyFrom(this.transform.transform(this.centroid));
this.angle = angle;
};
Body.prototype.syncTransform = function () {
Advanced.Manager.write('syncTransform:');
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('centroid: ' + this.centroid.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('a: ' + this.angle);
this.transform.setRotation(this.angle);
//var rotc: Phaser.Vec2 = this.transform.rotate(this.centroid);
//var sub: Phaser.Vec2 = Phaser.Vec2Utils.subtract(this.position, rotc);
//this.transform.setPosition(sub);
// this.transform.setPosition(vec2.sub(this.position, this.transform.rotate(this.centroid)));
//Phaser.Vec2Utils.subtract(this.position, this.transform.rotate(this.centroid), this.transform.t);
// OPTIMISE: Creating new vector
Phaser.Vec2Utils.subtract(this.position, Phaser.TransformUtils.rotate(this.transform, this.centroid), this.transform.t);
Advanced.Manager.write('--------------------');
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('--------------------');
};
Body.prototype.getWorldPoint = function (p) {
// OPTIMISE: Creating new vector
@ -21585,14 +21710,21 @@ var Phaser;
joint.setWorldAnchor2(anchor2);
}
};
Body.prototype.cacheData = function () {
//console.log('Body cacheData', this.name, 'len', this.shapes.length);
Body.prototype.cacheData = function (source) {
if (typeof source === "undefined") { source = ''; }
Advanced.Manager.write('cacheData -- start');
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
this.bounds.clear();
for(var i = 0; i < this.shapes.length; i++) {
var shape = this.shapes[i];
shape.cacheData(this.transform);
this.bounds.addBounds(shape.bounds);
}
Advanced.Manager.write('bounds: ' + this.bounds.toString());
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('cacheData -- stop');
};
Body.prototype.updateVelocity = function (gravity, dt, damping) {
// this.velocity = vec2.mad(this.velocity, vec2.mad(gravity, this.force, this.massInverted), dt);
@ -21606,11 +21738,29 @@ var Phaser;
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
this.velocity.scale(this.game.math.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.game.math.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.velocity.scale(this.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.force.setTo(0, 0);
this.torque = 0;
};
Body.prototype.inContact = function (body2) {
if(!body2 || this.stepCount == body2.stepCount) {
return false;
}
if(!(this.isAwake && this.isStatic == false) && !(body2.isAwake && body2.isStatic == false)) {
return false;
}
if(this.isCollidable(body2) == false) {
return false;
}
if(!this.bounds.intersectsBounds(body2.bounds)) {
return false;
}
return true;
};
Body.prototype.clamp = function (v, min, max) {
return v < min ? min : (v > max ? max : v);
};
Body.prototype.updatePosition = function (dt) {
//console.log('body update pos', this.position.y);
//console.log('pre add temp', this._tempVec2.y);
@ -21711,10 +21861,7 @@ var Phaser;
}
for(var i = 0; i < this.joints.length; i++) {
var joint = this.joints[i];
if(!joint) {
continue;
}
if(!joint.collideConnected && other.jointHash[joint.id] != undefined) {
if(!this.joints[i] || (!this.joints[i].collideConnected && other.jointHash[this.joints[i].id] != undefined)) {
return false;
}
}

106
Tests/physics/body1.js
View file

@ -10,6 +10,7 @@
game.load.image('atari', 'assets/sprites/shinyball.png');
game.load.start();
}
var debug;
var atari;
var card;
var physics;
@ -17,16 +18,27 @@
var walls;
var t;
function create() {
atari = game.add.sprite(200, 100, 'atari');
//debug = <HTMLTextAreaElement> document.createElement('textarea');
//debug.style.position = 'absolute';
//debug.style.left = '850px';
//debug.style.top = '32px';
//debug.style.width = '600px';
//debug.style.height = '600px';
//document.body.appendChild(debug);
//atari = game.add.sprite(200, 100, 'atari');
// need to get the physics bounds around the sprite center, regardless of origin
atari.transform.origin.setTo(0.5, 0.5);
//atari.transform.origin.setTo(0.5, 0.5);
//card = game.add.sprite(500, 300, 'card');
physics = new Phaser.Physics.Advanced.Manager(game);
walls = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_KINETIC);
//Phaser.Physics.Advanced.Manager.debug = debug;
walls = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_STATIC, 0, 0);
walls.game = game;
walls.addBox(500, 500, 500, 20);
walls.addBox(100, 250, 250, 20);
walls.transform.setRotation(game.math.degreesToRadians(3));
//walls.addBox(250, 200, 500, 20, 0, 1, 1);
//staticBody.addShape(new ShapeBox(0, 0.2, 20.48, 0.4));
// * 0.02 p2m
// * 50 m2p
walls.addBox(0, 500, 1024, 20, 0, 1, 1);
//walls.transform.setRotation(game.math.degreesToRadians(4));
//walls.fixedRotation = true;
// position is in relation to the containing body! don't forget this
//ground = walls.addShape(new Phaser.Physics.Advanced.Shapes.Box(400, 500, 500, 20));
@ -37,47 +49,34 @@
//walls.resetMassData();
physics.space.addBody(walls);
// Add a circle
circle = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 100, 200);
circle.game = game;
circle.addCircle(32, 0, 0, 0.8);
physics.space.addBody(circle);
t = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_KINETIC, 500, 400);
//circle = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 200, 100);
//circle.game = game;
//circle.addCircle(32, 0, 0, 0.5);
//physics.space.addBody(circle);
t = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 300, 100);
//t.fixedRotation = true;
t.game = game;
t.addBox(0, 0, 20, 20, 0.5, 1, 1);
//t.addCircle(32, 0, 0, 0.8);
//t.addTriangle(0, 0, 1, 1, 2, 2);
t.addPoly([
{
x: -0.8,
y: 0.48
},
{
x: -0.8,
y: 0
},
{
x: 0.8,
y: 0
},
{
x: 0.8,
y: 0.32
},
{
x: 0,
y: 0.84
},
{
x: -0.56,
y: 0.84
}
], 0.5, 1, 6);
//t.addPoly([{ x: -0.8, y: 0.48 }, { x: -0.8, y: 0 }, { x: 0.8, y: 0 }, { x: 0.8, y: 0.32 }, { x: 0, y: 0.84 }, { x: -0.56, y: 0.84 }], 1, 1, 6);
//t.addPoly([{ x: -0.8, y: 0.48 }, { x: -0.8, y: 0 }, { x: 0.8, y: 0 }, { x: 0.8, y: 0.32 }, { x: 0, y: 0.84 }, { x: -0.56, y: 0.84 }], 0.5, 1, 1);
//t.transform.setRotation(game.math.degreesToRadians(45));
//t.fixedRotation = true;
physics.space.addBody(t);
game.input.onTap.add(step, this);
}
function step() {
physics.update();
}
function update() {
//if (physics.space.stepCount < 90)
//{
physics.update();
atari.x = physics.metersToPixels(circle.position.x);
atari.y = physics.metersToPixels(circle.position.y);
atari.rotation = physics.metersToPixels(circle.angle);
//}
//atari.x = physics.metersToPixels(circle.position.x);
//atari.y = physics.metersToPixels(circle.position.y);
//atari.rotation = physics.metersToPixels(circle.angle);
// force moves without rotating
if(game.input.keyboard.isDown(Phaser.Keyboard.LEFT)) {
circle.applyAngularImpulse(-0.02);
@ -118,27 +117,30 @@
game.stage.context.closePath();
}
function drawPolygon(ctx, shape, lineWidth, fillStyle) {
var verts = shape.verts;
var verts = shape.tverts;
var body = shape.body;
ctx.beginPath();
ctx.moveTo(verts[0].x * 50, verts[0].y * 50);
ctx.moveTo(body.position.x + verts[0].x * 50, body.position.y + verts[0].y * 50);
for(var i = 0; i < verts.length; i++) {
ctx.lineTo(verts[i].x * 50, verts[i].y * 50);
ctx.lineTo(body.position.x + verts[i].x * 50, body.position.y + verts[i].y * 50);
}
ctx.lineTo(verts[verts.length - 1].x * 50, verts[verts.length - 1].y * 50);
ctx.lineTo(body.position.x + verts[verts.length - 1].x * 50, body.position.y + verts[verts.length - 1].y * 50);
ctx.closePath();
ctx.fillStyle = fillStyle;
ctx.fill();
}
function render() {
game.stage.context.fillStyle = 'rgb(255,255,0)';
game.stage.context.fillText('x: ' + circle.position.x + ' y: ' + circle.position.y, 32, 32);
game.stage.context.fillText('vx: ' + circle.velocity.x + ' vy: ' + circle.velocity.y, 32, 64);
renderCircle(circle.shapes[0]);
renderBounds(circle);
//game.stage.context.fillStyle = 'rgb(255,255,0)';
//game.stage.context.fillText('x: ' + t.position.x + ' y: ' + t.position.y, 32, 32);
//game.stage.context.fillText('vx: ' + t.velocity.x + ' vy: ' + t.velocity.y, 32, 64);
//game.stage.context.fillText('x: ' + t.bounds.x + ' y: ' + t.bounds.y, 32, 32);
//game.stage.context.fillText('vx: ' + t.velocity.x + ' vy: ' + t.velocity.y, 32, 64);
//renderCircle(circle.shapes[0]);
//renderBounds(circle);
drawPolygon(game.stage.context, walls.shapes[0], 1, 'rgb(0,255,255)');
drawPolygon(game.stage.context, walls.shapes[1], 1, 'rgb(0,255,255)');
//drawPolygon(game.stage.context, walls.shapes[1], 1, 'rgb(0,255,255)');
//renderCircle(t.shapes[0]);
drawPolygon(game.stage.context, t.shapes[0], 1, 'rgb(255,255,255)');
renderBounds(t);
}
//renderBounds(t);
}
})();

89
Tests/physics/body1.ts
View file

@ -16,6 +16,7 @@
}
var debug: HTMLTextAreaElement;
var atari: Phaser.Sprite;
var card: Phaser.Sprite;
var physics: Phaser.Physics.Advanced.Manager;
@ -25,20 +26,36 @@
function create() {
atari = game.add.sprite(200, 100, 'atari');
//debug = <HTMLTextAreaElement> document.createElement('textarea');
//debug.style.position = 'absolute';
//debug.style.left = '850px';
//debug.style.top = '32px';
//debug.style.width = '600px';
//debug.style.height = '600px';
//document.body.appendChild(debug);
//atari = game.add.sprite(200, 100, 'atari');
// need to get the physics bounds around the sprite center, regardless of origin
atari.transform.origin.setTo(0.5, 0.5);
//atari.transform.origin.setTo(0.5, 0.5);
//card = game.add.sprite(500, 300, 'card');
physics = new Phaser.Physics.Advanced.Manager(game);
//Phaser.Physics.Advanced.Manager.debug = debug;
walls = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_KINETIC);
walls = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_STATIC, 0, 0);
walls.game = game;
walls.addBox(500, 500, 500, 20);
walls.addBox(100, 250, 250, 20);
walls.transform.setRotation(game.math.degreesToRadians(3));
//walls.addBox(250, 200, 500, 20, 0, 1, 1);
//staticBody.addShape(new ShapeBox(0, 0.2, 20.48, 0.4));
// * 0.02 p2m
// * 50 m2p
walls.addBox(0, 500, 1024, 20, 0, 1, 1);
//walls.transform.setRotation(game.math.degreesToRadians(4));
//walls.fixedRotation = true;
// position is in relation to the containing body! don't forget this
@ -53,27 +70,42 @@
physics.space.addBody(walls);
// Add a circle
circle = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 100, 200);
circle.game = game;
circle.addCircle(32, 0, 0, 0.8);
physics.space.addBody(circle);
//circle = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 200, 100);
//circle.game = game;
//circle.addCircle(32, 0, 0, 0.5);
//physics.space.addBody(circle);
t = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_KINETIC, 500, 400);
t = new Phaser.Physics.Advanced.Body(null, Phaser.Types.BODY_DYNAMIC, 300, 100);
//t.fixedRotation = true;
t.game = game;
t.addBox(0, 0, 20, 20, 0.5, 1, 1);
//t.addCircle(32, 0, 0, 0.8);
//t.addTriangle(0, 0, 1, 1, 2, 2);
t.addPoly([{ x: -0.8, y: 0.48 }, { x: -0.8, y: 0 }, { x: 0.8, y: 0 }, { x: 0.8, y: 0.32 }, { x: 0, y: 0.84 }, { x: -0.56, y: 0.84 }], 0.5, 1, 6);
//t.addPoly([{ x: -0.8, y: 0.48 }, { x: -0.8, y: 0 }, { x: 0.8, y: 0 }, { x: 0.8, y: 0.32 }, { x: 0, y: 0.84 }, { x: -0.56, y: 0.84 }], 1, 1, 6);
//t.addPoly([{ x: -0.8, y: 0.48 }, { x: -0.8, y: 0 }, { x: 0.8, y: 0 }, { x: 0.8, y: 0.32 }, { x: 0, y: 0.84 }, { x: -0.56, y: 0.84 }], 0.5, 1, 1);
//t.transform.setRotation(game.math.degreesToRadians(45));
//t.fixedRotation = true;
physics.space.addBody(t);
game.input.onTap.add(step, this);
}
function step() {
physics.update();
}
function update() {
physics.update();
//if (physics.space.stepCount < 90)
//{
physics.update();
//}
atari.x = physics.metersToPixels(circle.position.x);
atari.y = physics.metersToPixels(circle.position.y);
atari.rotation = physics.metersToPixels(circle.angle);
//atari.x = physics.metersToPixels(circle.position.x);
//atari.y = physics.metersToPixels(circle.position.y);
//atari.rotation = physics.metersToPixels(circle.angle);
// force moves without rotating
@ -140,16 +172,17 @@
function drawPolygon(ctx, shape, lineWidth, fillStyle) {
var verts = shape.verts;
var verts = shape.tverts;
var body = shape.body;
ctx.beginPath();
ctx.moveTo(verts[0].x * 50, verts[0].y * 50);
ctx.moveTo(body.position.x + verts[0].x * 50, body.position.y + verts[0].y * 50);
for (var i = 0; i < verts.length; i++) {
ctx.lineTo(verts[i].x * 50, verts[i].y * 50);
ctx.lineTo(body.position.x + verts[i].x * 50, body.position.y + verts[i].y * 50);
}
ctx.lineTo(verts[verts.length - 1].x * 50, verts[verts.length - 1].y * 50);
ctx.lineTo(body.position.x + verts[verts.length - 1].x * 50, body.position.y + verts[verts.length - 1].y * 50);
ctx.closePath();
@ -160,19 +193,21 @@
function render() {
game.stage.context.fillStyle = 'rgb(255,255,0)';
game.stage.context.fillText('x: ' + circle.position.x + ' y: ' + circle.position.y, 32, 32);
game.stage.context.fillText('vx: ' + circle.velocity.x + ' vy: ' + circle.velocity.y, 32, 64);
//game.stage.context.fillStyle = 'rgb(255,255,0)';
//game.stage.context.fillText('x: ' + t.position.x + ' y: ' + t.position.y, 32, 32);
//game.stage.context.fillText('vx: ' + t.velocity.x + ' vy: ' + t.velocity.y, 32, 64);
//game.stage.context.fillText('x: ' + t.bounds.x + ' y: ' + t.bounds.y, 32, 32);
//game.stage.context.fillText('vx: ' + t.velocity.x + ' vy: ' + t.velocity.y, 32, 64);
renderCircle(circle.shapes[0]);
renderBounds(circle);
//renderCircle(circle.shapes[0]);
//renderBounds(circle);
drawPolygon(game.stage.context, walls.shapes[0], 1, 'rgb(0,255,255)');
drawPolygon(game.stage.context, walls.shapes[1], 1, 'rgb(0,255,255)');
//drawPolygon(game.stage.context, walls.shapes[1], 1, 'rgb(0,255,255)');
//renderCircle(t.shapes[0]);
drawPolygon(game.stage.context, t.shapes[0], 1, 'rgb(255,255,255)');
renderBounds(t);
//renderBounds(t);
}

85
build/phaser.d.ts vendored
View file

@ -8862,6 +8862,7 @@ module Phaser {
* @param {Pointer} pointer2
**/
public getAngle(pointer1: Pointer, pointer2: Pointer): number;
public pixelPerfectCheck(sprite: Sprite, pointer: Pointer, alpha?: number): bool;
}
}
module Phaser {
@ -9439,6 +9440,8 @@ module Phaser {
public t: Vec2;
public c: number;
public s: number;
public angle: number;
public toString(): string;
public setTo(pos: Vec2, angle: number): Transform;
public setRotation(angle: number): Transform;
public setPosition(p: Vec2): Transform;
@ -9602,6 +9605,12 @@ module Phaser.Physics.Advanced {
* Local reference to Game.
*/
public game: Game;
static debug: HTMLTextAreaElement;
static clear(): void;
static write(s: string): void;
static writeAll(): void;
static log: any[];
static dump(phase: string, body: Body): void;
static collision: Collision;
static SHAPE_TYPE_CIRCLE: number;
static SHAPE_TYPE_SEGMENT: number;
@ -9646,15 +9655,15 @@ module Phaser.Physics.Advanced {
static metersToPixels(value: number): number;
static p2m(value: number): number;
static m2p(value: number): number;
static areaForCircle(radius_outer, radius_inner): number;
static inertiaForCircle(mass, center, radius_outer, radius_inner): number;
static areaForSegment(a, b, radius): number;
static centroidForSegment(a, b): Vec2;
static inertiaForSegment(mass, a, b): number;
static areaForPoly(verts): number;
static centroidForPoly(verts): Vec2;
static inertiaForPoly(mass, verts, offset): number;
static inertiaForBox(mass, w, h): number;
static areaForCircle(radius_outer: number, radius_inner: number): number;
static inertiaForCircle(mass: number, center: Vec2, radius_outer: number, radius_inner: number): number;
static areaForSegment(a: Vec2, b: Vec2, radius: number): number;
static centroidForSegment(a: Vec2, b: Vec2): Vec2;
static inertiaForSegment(mass: number, a: Vec2, b: Vec2): number;
static areaForPoly(verts: Vec2[]): number;
static centroidForPoly(verts: Vec2[]): Vec2;
static inertiaForPoly(mass: number, verts: Vec2[], offset: Vec2): number;
static inertiaForBox(mass: number, w: number, h: number): number;
static createConvexHull(points): any[];
}
}
@ -9715,6 +9724,11 @@ module Phaser.Physics.Advanced {
pointQuery(p: Vec2): bool;
findEdgeByPoint(p: Vec2, minDist: number): number;
findVertexByPoint(p: Vec2, minDist: number): number;
verts: Vec2[];
planes: Plane[];
tverts: Vec2[];
tplanes: Plane[];
convexity: bool;
}
}
/**
@ -9728,6 +9742,11 @@ module Phaser.Physics.Advanced {
public id: number;
public type: number;
public body: Body;
public verts: Vec2[];
public planes: Plane[];
public tverts: Vec2[];
public tplanes: Plane[];
public convexity: bool;
public elasticity: number;
public friction: number;
public density: number;
@ -9800,6 +9819,18 @@ module Phaser.Physics.Advanced.Shapes {
}
}
/**
* Phaser - Advanced Physics - Plane
*
* Based on the work Ju Hyung Lee started in JS PhyRus.
*/
module Phaser.Physics.Advanced {
class Plane {
constructor(normal: Vec2, d: number);
public normal: Vec2;
public d: number;
}
}
/**
* Phaser - Advanced Physics - Shapes - Convex Polygon
*
* Based on the work Ju Hyung Lee started in JS PhyRus.
@ -9807,16 +9838,11 @@ module Phaser.Physics.Advanced.Shapes {
module Phaser.Physics.Advanced.Shapes {
class Poly extends Shape implements IShape {
constructor(verts?);
public verts: Vec2[];
public planes;
public tverts;
public tplanes;
public convexity: bool;
public finishVerts(): void;
public duplicate(): Poly;
public recenter(c): void;
public transform(xf): void;
public untransform(xf): void;
public transform(xf: Transform): void;
public untransform(xf: Transform): void;
public area(): number;
public centroid(): Vec2;
public inertia(mass: number): number;
@ -9824,8 +9850,8 @@ module Phaser.Physics.Advanced.Shapes {
public pointQuery(p: Vec2): bool;
public findVertexByPoint(p: Vec2, minDist: number): number;
public findEdgeByPoint(p: Vec2, minDist: number): number;
public distanceOnPlane(n, d): number;
public containPoint(p): bool;
public distanceOnPlane(n: Vec2, d: number): number;
public containPoint(p: Vec2): bool;
public containPointPartial(p, n): bool;
}
}
@ -9875,7 +9901,7 @@ module Phaser.Physics.Advanced {
public segment2Segment(seg1: Shapes.Segment, seg2: Shapes.Segment, contactArr: Contact[]): number;
public findPointsBehindSeg(contactArr: Contact[], seg: Shapes.Segment, poly: Shapes.Poly, dist: number, coef: number): void;
public segment2Poly(seg: Shapes.Segment, poly: Shapes.Poly, contactArr: Contact[]): number;
public findMSA(poly: Shapes.Poly, planes, num: number): {
public findMSA(poly: Shapes.Poly, planes: Plane[], num: number): {
dist: number;
index: number;
};
@ -9979,6 +10005,7 @@ module Phaser.Physics.Advanced.Shapes {
module Phaser.Physics.Advanced {
class Body {
constructor(sprite: Sprite, type: number, x?: number, y?: number);
public toString(): string;
private _tempVec2;
/**
* Reference to Phaser.Game
@ -10047,25 +10074,27 @@ module Phaser.Physics.Advanced {
public setTransform(pos, angle): void;
public syncTransform(): void;
public getWorldPoint(p: Vec2): Vec2;
public getWorldVector(v): Vec2;
public getLocalPoint(p): Vec2;
public getLocalVector(v): Vec2;
public getWorldVector(v: Vec2): Vec2;
public getLocalPoint(p: Vec2): Vec2;
public getLocalVector(v: Vec2): Vec2;
public setFixedRotation(flag): void;
public resetMassData(): void;
public resetJointAnchors(): void;
public cacheData(): void;
public cacheData(source?: string): void;
public updateVelocity(gravity, dt, damping): void;
public inContact(body2: Body): bool;
public clamp(v, min, max);
public updatePosition(dt): void;
public resetForce(): void;
public applyForce(force, p): void;
public applyForceToCenter(force): void;
public applyTorque(torque): void;
public applyLinearImpulse(impulse, p): void;
public applyForce(force: Vec2, p: Vec2): void;
public applyForceToCenter(force: Vec2): void;
public applyTorque(torque: number): void;
public applyLinearImpulse(impulse: Vec2, p: Vec2): void;
public applyAngularImpulse(impulse: number): void;
public kineticEnergy(): number;
public isAwake : bool;
public awake(flag): void;
public isCollidable(other): bool;
public isCollidable(other: Body): bool;
}
}
/**

547
build/phaser.js
View file

@ -955,7 +955,8 @@ var Phaser;
* @return {string} a string representation of the object.
**/
function () {
return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
//return "[{Vec2 (x=" + this.x + " y=" + this.y + ")}]";
return "x=" + this.x + " y=" + this.y;
};
return Vec2;
})();
@ -16496,19 +16497,15 @@ var Phaser;
function (pointer1, pointer2) {
return Phaser.Vec2Utils.angle(pointer1.position, pointer2.position);
};
Input.prototype.pixelPerfectCheck = function (sprite, pointer, alpha) {
if (typeof alpha === "undefined") { alpha = 255; }
this.hitContext.clearRect(0, 0, 1, 1);
return true;
};
return Input;
})();
Phaser.Input = Input;
/*
public pixelPerfectCheck(sprite: Phaser.Sprite, pointer: Phaser.Pointer, alpha: number = 255): bool {
this.hitContext.clearRect(0, 0, 1, 1);
return true;
}
*/
})(Phaser || (Phaser = {}));
})(Phaser || (Phaser = {}));
/// <reference path="../Game.ts" />
/// <reference path="../cameras/Camera.ts" />
/// <reference path="IRenderer.ts" />
@ -18073,7 +18070,11 @@ var Phaser;
this.t = Phaser.Vec2Utils.clone(pos);
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
Transform.prototype.toString = function () {
return 't=' + this.t.toString() + ' c=' + this.c + ' s=' + this.s + ' a=' + this.angle;
};
Transform.prototype.setTo = function (pos, angle) {
this.t.copyFrom(pos);
this.c = Math.cos(angle);
@ -18081,8 +18082,11 @@ var Phaser;
return this;
};
Transform.prototype.setRotation = function (angle) {
this.c = Math.cos(angle);
this.s = Math.sin(angle);
if(angle !== this.angle) {
this.c = Math.cos(angle);
this.s = Math.sin(angle);
this.angle = angle;
}
return this;
};
Transform.prototype.setPosition = function (p) {
@ -18114,20 +18118,24 @@ var Phaser;
function TransformUtils() { }
TransformUtils.rotate = function rotate(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c - v.y * this.s, v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c - v.y * t.s, v.x * t.s + v.y * t.c);
};
TransformUtils.unrotate = function unrotate(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c + v.y * this.s, -v.x * this.s + v.y * this.c);
return out.setTo(v.x * t.c + v.y * t.s, -v.x * t.s + v.y * t.c);
};
TransformUtils.transform = function transform(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
//return new vec2(v.x * this.c - v.y * this.s + this.t.x, v.x * this.s + v.y * this.c + this.t.y);
return out.setTo(v.x * t.c - v.y * t.s + t.t.x, v.x * t.s + v.y * t.c + t.t.y);
};
TransformUtils.untransform = function untransform(t, v, out) {
if (typeof out === "undefined") { out = new Phaser.Vec2(); }
var px = v.x - t.t.x;
var py = v.y - t.t.y;
//return new vec2(px * this.c + py * this.s, -px * this.s + py * this.c);
return out.setTo(px * t.c + py * t.s, -px * t.s + py * t.c);
};
return TransformUtils;
@ -19150,14 +19158,58 @@ var Phaser;
this.paused = false;
this.step = false;
// step through the simulation (i.e. per click)
//public paused: bool = true;
//public step: bool = false; // step through the simulation (i.e. per click)
this.velocityIterations = 8;
this.positionIterations = 4;
//public velocityIterations: number = 1;
//public positionIterations: number = 1;
this.allowSleep = true;
this.warmStarting = true;
this.game = game;
this.space = new Advanced.Space();
Manager.collision = new Advanced.Collision();
}
Manager.clear = function clear() {
Manager.debug.textContent = "";
Manager.log = [];
};
Manager.write = function write(s) {
//Manager.debug.textContent += s + "\n";
};
Manager.writeAll = function writeAll() {
for(var i = 0; i < Manager.log.length; i++) {
//Manager.debug.textContent += Manager.log[i];
}
};
Manager.log = [];
Manager.dump = function dump(phase, body) {
var s = "\n\nPhase: " + phase + "\n";
s += "Position: " + body.position.toString() + "\n";
s += "Velocity: " + body.velocity.toString() + "\n";
s += "Angle: " + body.angle + "\n";
s += "Force: " + body.force.toString() + "\n";
s += "Torque: " + body.torque + "\n";
s += "Bounds: " + body.bounds.toString() + "\n";
s += "Shape ***\n";
s += "Vert 0: " + body.shapes[0].verts[0].toString() + "\n";
s += "Vert 1: " + body.shapes[0].verts[1].toString() + "\n";
s += "Vert 2: " + body.shapes[0].verts[2].toString() + "\n";
s += "Vert 3: " + body.shapes[0].verts[3].toString() + "\n";
s += "TVert 0: " + body.shapes[0].tverts[0].toString() + "\n";
s += "TVert 1: " + body.shapes[0].tverts[1].toString() + "\n";
s += "TVert 2: " + body.shapes[0].tverts[2].toString() + "\n";
s += "TVert 3: " + body.shapes[0].tverts[3].toString() + "\n";
s += "Plane 0: " + body.shapes[0].planes[0].normal.toString() + "\n";
s += "Plane 1: " + body.shapes[0].planes[1].normal.toString() + "\n";
s += "Plane 2: " + body.shapes[0].planes[2].normal.toString() + "\n";
s += "Plane 3: " + body.shapes[0].planes[3].normal.toString() + "\n";
s += "TPlane 0: " + body.shapes[0].tplanes[0].normal.toString() + "\n";
s += "TPlane 1: " + body.shapes[0].tplanes[1].normal.toString() + "\n";
s += "TPlane 2: " + body.shapes[0].tplanes[2].normal.toString() + "\n";
s += "TPlane 3: " + body.shapes[0].tplanes[3].normal.toString() + "\n";
Manager.log.push(s);
};
Manager.SHAPE_TYPE_CIRCLE = 0;
Manager.SHAPE_TYPE_SEGMENT = 1;
Manager.SHAPE_TYPE_POLY = 2;
@ -19197,6 +19249,7 @@ var Phaser;
// //domCanvas.style.cursor = body ? "pointer" : "default";
//}
if(!this.paused || this.step) {
Manager.clear();
var h = 1 / this.frameRateHz;
this.timeDelta += frameTime;
if(this.step) {
@ -19649,7 +19702,6 @@ var Phaser;
(function (Advanced) {
var ContactSolver = (function () {
function ContactSolver(shape1, shape2) {
//console.log('ContactSolver super');
this.shape1 = shape1;
this.shape2 = shape2;
this.contacts = [];
@ -19733,24 +19785,32 @@ var Phaser;
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
//var impulse = new vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
//console.log('phaser warmStart impulse ' + i + ' = ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -body1.massInverted);
//body1.v.mad(impulse, -body1.m_inv);
body1.angularVelocity -= Phaser.Vec2Utils.cross(con.r1, impulse) * body1.inertiaInverted;
//body1.w -= vec2.cross(con.r1, impulse) * body1.i_inv;
body2.velocity.multiplyAddByScalar(impulse, -body2.massInverted);
body2.velocity.multiplyAddByScalar(impulse, body2.massInverted);
//body2.v.mad(impulse, body2.m_inv);
body2.angularVelocity -= Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
body2.angularVelocity += Phaser.Vec2Utils.cross(con.r2, impulse) * body2.inertiaInverted;
//body2.w += vec2.cross(con.r2, impulse) * body2.i_inv;
}
};
ContactSolver.prototype.solveVelocityConstraints = function () {
var body1 = this.shape1.body;
var body2 = this.shape2.body;
Advanced.Manager.write('solveVelocityConstraints. Body1: ' + body1.name + ' Body2: ' + body2.name);
Advanced.Manager.write('Shape 1: ' + this.shape1.type + ' Shape 2: ' + this.shape2.type);
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
var i2_inv = body2.inertiaInverted;
Advanced.Manager.write('m1_inv: ' + m1_inv);
Advanced.Manager.write('i1_inv: ' + i1_inv);
Advanced.Manager.write('m2_inv: ' + m2_inv);
Advanced.Manager.write('i2_inv: ' + i2_inv);
for(var i = 0; i < this.contacts.length; i++) {
Advanced.Manager.write('------------ solve con ' + i);
var con = this.contacts[i];
var n = con.normal;
var t = Phaser.Vec2Utils.perp(n);
@ -19762,19 +19822,25 @@ var Phaser;
var v2 = new Phaser.Vec2();
Phaser.Vec2Utils.multiplyAdd(body1.velocity, Phaser.Vec2Utils.perp(r1), body1.angularVelocity, v1);
//var v1 = vec2.mad(body1.v, vec2.perp(r1), body1.w);
Advanced.Manager.write('v1 ' + v1.toString());
Phaser.Vec2Utils.multiplyAdd(body2.velocity, Phaser.Vec2Utils.perp(r2), body2.angularVelocity, v2);
//var v2 = vec2.mad(body2.v, vec2.perp(r2), body2.w);
Advanced.Manager.write('v2 ' + v2.toString());
// Relative velocity at contact point
var rv = new Phaser.Vec2();
Phaser.Vec2Utils.subtract(v2, v1, rv);
//var rv = vec2.sub(v2, v1);
Advanced.Manager.write('rv ' + rv.toString());
// Compute normal constraint impulse + adding bounce as a velocity bias
// lambda_n = -EMn * J * V
var lambda_n = -con.emn * (Phaser.Vec2Utils.dot(n, rv) + con.bounce);
Advanced.Manager.write('lambda_n: ' + lambda_n);
// Accumulate and clamp
var lambda_n_old = con.lambdaNormal;
con.lambdaNormal = Math.max(lambda_n_old + lambda_n, 0);
//con.lambdaNormal = this.clamp(lambda_n_old + lambda_n, 0);
lambda_n = con.lambdaNormal - lambda_n_old;
Advanced.Manager.write('lambda_n clamped: ' + lambda_n);
// Compute frictional constraint impulse
// lambda_t = -EMt * J * V
var lambda_t = -con.emt * Phaser.Vec2Utils.dot(t, rv);
@ -19787,19 +19853,23 @@ var Phaser;
// Apply the final impulses
//var impulse = vec2.rotate_vec(new vec2(lambda_n, lambda_t), n);
var impulse = new Phaser.Vec2(lambda_n * n.x - lambda_t * n.y, lambda_t * n.x + lambda_n * n.y);
Advanced.Manager.write('impulse: ' + impulse.toString());
body1.velocity.multiplyAddByScalar(impulse, -m1_inv);
//body1.v.mad(impulse, -m1_inv);
body1.angularVelocity -= Phaser.Vec2Utils.cross(r1, impulse) * i1_inv;
//body1.w -= vec2.cross(r1, impulse) * i1_inv;
body2.velocity.multiplyAddByScalar(impulse, m2_inv);
//body2.v.mad(impulse, m2_inv);
body1.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
body2.angularVelocity += Phaser.Vec2Utils.cross(r2, impulse) * i2_inv;
//body2.w += vec2.cross(r2, impulse) * i2_inv;
}
Advanced.Manager.write('body1: ' + body1.toString());
Advanced.Manager.write('body2: ' + body2.toString());
}
};
ContactSolver.prototype.solvePositionConstraints = function () {
var body1 = this.shape1.body;
var body2 = this.shape2.body;
Advanced.Manager.write('solvePositionConstraints');
var m1_inv = body1.massInverted;
var i1_inv = body1.inertiaInverted;
var m2_inv = body2.massInverted;
@ -19807,6 +19877,7 @@ var Phaser;
var sum_m_inv = m1_inv + m2_inv;
var max_penetration = 0;
for(var i = 0; i < this.contacts.length; i++) {
Advanced.Manager.write('------------- solvePositionConstraints ' + i);
var con = this.contacts[i];
var n = con.normal;
var r1 = new Phaser.Vec2();
@ -19816,6 +19887,10 @@ var Phaser;
//var r1 = vec2.rotate(con.r1_local, body1.a);
Phaser.Vec2Utils.rotate(con.r2_local, body2.angle, r2);
//var r2 = vec2.rotate(con.r2_local, body2.a);
Advanced.Manager.write('r1_local.x = ' + con.r1_local.x + ' r1_local.y = ' + con.r1_local.y + ' angle: ' + body1.angle);
Advanced.Manager.write('r1 rotated: r1.x = ' + r1.x + ' r1.y = ' + r1.y);
Advanced.Manager.write('r2_local.x = ' + con.r2_local.x + ' r2_local.y = ' + con.r2_local.y + ' angle: ' + body2.angle);
Advanced.Manager.write('r2 rotated: r2.x = ' + r2.x + ' r2.y = ' + r2.y);
// Contact points (corrected)
var p1 = new Phaser.Vec2();
var p2 = new Phaser.Vec2();
@ -19823,9 +19898,11 @@ var Phaser;
//var p1 = vec2.add(body1.p, r1);
Phaser.Vec2Utils.add(body2.position, r2, p2);
//var p2 = vec2.add(body2.p, r2);
Advanced.Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Advanced.Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
// Corrected delta vector
var dp = new Phaser.Vec2();
Phaser.Vec2Utils.subtract(p2, p1);
Phaser.Vec2Utils.subtract(p2, p1, dp);
//var dp = vec2.sub(p2, p1);
// Position constraint
var c = Phaser.Vec2Utils.dot(dp, n) + con.depth;
@ -19851,7 +19928,10 @@ var Phaser;
body2.position.multiplyAddByScalar(impulse_dt, m2_inv);
//body2.p.mad(impulse_dt, m2_inv);
body2.angle += sn2 * lambda_dt * i2_inv;
Advanced.Manager.write('body1.pos.x=' + body1.position.x + ' y=' + body1.position.y);
Advanced.Manager.write('body2.pos.x=' + body2.position.x + ' y=' + body2.position.y);
}
Advanced.Manager.write('max_penetration: ' + max_penetration);
return max_penetration <= Advanced.Manager.CONTACT_SOLVER_COLLISION_SLOP * 3;
};
ContactSolver.prototype.clamp = function (v, min, max) {
@ -19951,6 +20031,32 @@ var Phaser;
var Physics = Phaser.Physics;
})(Phaser || (Phaser = {}));
var Phaser;
(function (Phaser) {
(function (Physics) {
/// <reference path="../../math/Vec2.ts" />
/// <reference path="../../math/Vec2Utils.ts" />
/// <reference path="Manager.ts" />
/// <reference path="Body.ts" />
/**
* Phaser - Advanced Physics - Plane
*
* Based on the work Ju Hyung Lee started in JS PhyRus.
*/
(function (Advanced) {
var Plane = (function () {
function Plane(normal, d) {
this.normal = normal;
this.d = d;
}
return Plane;
})();
Advanced.Plane = Plane;
})(Physics.Advanced || (Physics.Advanced = {}));
var Advanced = Physics.Advanced;
})(Phaser.Physics || (Phaser.Physics = {}));
var Physics = Phaser.Physics;
})(Phaser || (Phaser = {}));
var Phaser;
(function (Phaser) {
(function (Physics) {
(function (Advanced) {
@ -19958,6 +20064,7 @@ var Phaser;
/// <reference path="../../../math/Vec2Utils.ts" />
/// <reference path="../Manager.ts" />
/// <reference path="../Body.ts" />
/// <reference path="../Plane.ts" />
/// <reference path="Shape.ts" />
/**
* Phaser - Advanced Physics - Shapes - Convex Polygon
@ -19979,10 +20086,8 @@ var Phaser;
for(var i = 0; i < verts.length; i++) {
this.verts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tverts[i] = this.verts[i];
this.tplanes[i] = {
};
this.tplanes[i].n = new Phaser.Vec2();
this.tplanes[i].d = 0;
//this.tverts[i] = new Phaser.Vec2(verts[i].x, verts[i].y);
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2(), 0);
}
}
this.finishVerts();
@ -20001,21 +20106,17 @@ var Phaser;
var a = this.verts[i];
var b = this.verts[(i + 1) % this.verts.length];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.planes[i] = {
};
this.planes[i].n = n;
this.planes[i].d = Phaser.Vec2Utils.dot(n, a);
this.tverts[i] = this.verts[i];
this.tplanes[i] = {
};
this.tplanes[i].n = new Phaser.Vec2();
this.tplanes[i].d = 0;
this.planes[i] = new Phaser.Physics.Advanced.Plane(n, Phaser.Vec2Utils.dot(n, a));
this.tverts[i] = Phaser.Vec2Utils.clone(this.verts[i])// reference???
;
//this.tverts[i] = this.verts[i]; // reference???
this.tplanes[i] = new Phaser.Physics.Advanced.Plane(new Phaser.Vec2(), 0);
}
for(var i = 0; i < this.verts.length; i++) {
var b = this.verts[(i + 2) % this.verts.length];
var n = this.planes[i].n;
var d = this.planes[i].d;
if(Phaser.Vec2Utils.dot(n, b) - d > 0) {
//var b = this.verts[(i + 2) % this.verts.length];
//var n = this.planes[i].normal;
//var d = this.planes[i].d;
if(Phaser.Vec2Utils.dot(this.planes[i].normal, this.verts[(i + 2) % this.verts.length]) - this.planes[i].d > 0) {
this.convexity = false;
}
}
@ -20030,13 +20131,15 @@ var Phaser;
};
Poly.prototype.transform = function (xf) {
for(var i = 0; i < this.verts.length; i++) {
this.verts[i] = xf.transform(this.verts[i]);
}
this.verts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.verts[i] = xf.transform(this.verts[i]);
}
};
Poly.prototype.untransform = function (xf) {
for(var i = 0; i < this.verts.length; i++) {
this.verts[i] = xf.untransform(this.verts[i]);
}
this.verts[i] = Phaser.TransformUtils.untransform(xf, this.verts[i]);
//this.verts[i] = xf.untransform(this.verts[i]);
}
};
Poly.prototype.area = function () {
return Advanced.Manager.areaForPoly(this.verts);
@ -20050,14 +20153,15 @@ var Phaser;
Poly.prototype.cacheData = function (xf) {
this.bounds.clear();
var numVerts = this.verts.length;
console.log('Poly cacheData', numVerts, this.body.name);
Advanced.Manager.write('----------- Poly cacheData = ' + numVerts);
if(numVerts == 0) {
return;
}
for(var i = 0; i < numVerts; i++) {
Phaser.TransformUtils.transform(xf, this.tverts[i], this.tverts[i]);
this.tverts[i] = Phaser.TransformUtils.transform(xf, this.verts[i]);
//this.tverts[i] = xf.transform(this.verts[i]);
}
Advanced.Manager.write('tvert' + i + ' = ' + this.tverts[i].toString());
}
if(numVerts < 2) {
this.bounds.addPoint(this.tverts[0]);
return;
@ -20066,8 +20170,13 @@ var Phaser;
var a = this.tverts[i];
var b = this.tverts[(i + 1) % numVerts];
var n = Phaser.Vec2Utils.normalize(Phaser.Vec2Utils.perp(Phaser.Vec2Utils.subtract(a, b)));
this.tplanes[i].n = n;
Advanced.Manager.write('a = ' + a.toString());
Advanced.Manager.write('b = ' + b.toString());
Advanced.Manager.write('n = ' + n.toString());
this.tplanes[i].normal = n;
this.tplanes[i].d = Phaser.Vec2Utils.dot(n, a);
Advanced.Manager.write('tplanes' + i + ' n = ' + this.tplanes[i].normal.toString());
Advanced.Manager.write('tplanes' + i + ' d = ' + this.tplanes[i].d.toString());
this.bounds.addPoint(a);
}
};
@ -20092,7 +20201,7 @@ var Phaser;
for(var i = 0; i < this.tverts.length; i++) {
var v1 = this.tverts[i];
var v2 = this.tverts[(i + 1) % numVerts];
var n = this.tplanes[i].n;
var n = this.tplanes[i].normal;
var dtv1 = Phaser.Vec2Utils.cross(v1, n);
var dtv2 = Phaser.Vec2Utils.cross(v2, n);
var dt = Phaser.Vec2Utils.cross(p, n);
@ -20123,7 +20232,7 @@ var Phaser;
Poly.prototype.containPoint = function (p) {
for(var i = 0; i < this.verts.length; i++) {
var plane = this.tplanes[i];
if(Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0) {
if(Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0) {
return false;
}
}
@ -20132,10 +20241,10 @@ var Phaser;
Poly.prototype.containPointPartial = function (p, n) {
for(var i = 0; i < this.verts.length; i++) {
var plane = this.tplanes[i];
if(Phaser.Vec2Utils.dot(plane.n, n) < 0.0001) {
if(Phaser.Vec2Utils.dot(plane.normal, n) < 0.0001) {
continue;
}
if(Phaser.Vec2Utils.dot(plane.n, p) - plane.d > 0) {
if(Phaser.Vec2Utils.dot(plane.normal, p) - plane.d > 0) {
return false;
}
}
@ -20412,7 +20521,7 @@ var Phaser;
var minIdx = -1;
for(var i = 0; i < poly.verts.length; i++) {
var plane = poly.tplanes[i];
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.n) - plane.d - circ.radius;
var dist = Phaser.Vec2Utils.dot(circ.tc, plane.normal) - plane.d - circ.radius;
if(dist > 0) {
return 0;
} else if(dist > minDist) {
@ -20420,7 +20529,7 @@ var Phaser;
minIdx = i;
}
}
var n = poly.tplanes[minIdx].n;
var n = poly.tplanes[minIdx].normal;
var a = poly.tverts[minIdx];
var b = poly.tverts[(minIdx + 1) % poly.verts.length];
var dta = Phaser.Vec2Utils.cross(a, n);
@ -20529,7 +20638,7 @@ var Phaser;
var poly_i = -1;
for(var i = 0; i < poly.verts.length; i++) {
var plane = poly.tplanes[i];
var dist = seg.distanceOnPlane(plane.n, plane.d);
var dist = seg.distanceOnPlane(plane.normal, plane.d);
if(dist > 0) {
return 0;
}
@ -20539,7 +20648,7 @@ var Phaser;
}
}
var poly_n = new Phaser.Vec2();
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].n, poly_n);
Phaser.Vec2Utils.negative(poly.tplanes[poly_i].normal, poly_n);
//var poly_n = vec2.neg(poly.tplanes[poly_i].n);
var va = new Phaser.Vec2();
Phaser.Vec2Utils.multiplyAdd(seg.ta, poly_n, seg.radius, va);
@ -20587,7 +20696,7 @@ var Phaser;
var min_dist = -999999;
var min_index = -1;
for(var i = 0; i < num; i++) {
var dist = poly.distanceOnPlane(planes[i].n, planes[i].d);
var dist = poly.distanceOnPlane(planes[i].normal, planes[i].d);
if(dist > 0) {
// no collision
return {
@ -20645,17 +20754,19 @@ var Phaser;
Collision.prototype.poly2Poly = function (poly1, poly2, contactArr) {
var msa1 = this.findMSA(poly2, poly1.tplanes, poly1.verts.length);
if(msa1.index == -1) {
console.log('poly2poly 0', msa1);
return 0;
}
var msa2 = this.findMSA(poly1, poly2.tplanes, poly2.verts.length);
if(msa2.index == -1) {
console.log('poly2poly 1', msa2);
return 0;
}
// Penetration normal direction shoud be from poly1 to poly2
// Penetration normal direction should be from poly1 to poly2
if(msa1.dist > msa2.dist) {
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].n, msa1.dist);
return this.findVerts(contactArr, poly1, poly2, poly1.tplanes[msa1.index].normal, msa1.dist);
}
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].n), msa2.dist);
return this.findVerts(contactArr, poly1, poly2, Phaser.Vec2Utils.negative(poly2.tplanes[msa2.index].normal), msa2.dist);
};
return Collision;
})();
@ -20729,12 +20840,11 @@ var Phaser;
if(this.bodyHash[body.id] != undefined) {
return;
}
//console.log('Body added to space', body.name);
var index = this.bodyArr.push(body) - 1;
this.bodyHash[body.id] = index;
body.awake(true);
body.space = this;
body.cacheData();
body.cacheData('addBody');
};
Space.prototype.removeBody = function (body) {
if(this.bodyHash[body.id] == undefined) {
@ -20939,6 +21049,7 @@ var Phaser;
return firstJointId;
};
Space.prototype.findContactSolver = function (shape1, shape2) {
Advanced.Manager.write('findContactSolver. Length: ' + this.contactSolvers.length);
for(var i = 0; i < this.contactSolvers.length; i++) {
var contactSolver = this.contactSolvers[i];
if(shape1 == contactSolver.shape1 && shape2 == contactSolver.shape2) {
@ -20948,41 +21059,22 @@ var Phaser;
return null;
};
Space.prototype.genTemporalContactSolvers = function () {
//console.log('genTemporalContactSolvers');
//var t0 = Date.now();
Advanced.Manager.write('genTemporalContactSolvers');
var newContactSolverArr = [];
var bl = this.bodyArr.length;
this.numContacts = 0;
for(var body1_index = 0; body1_index < this.bodyArr.length; body1_index++) {
for(var body1_index = 0; body1_index < bl; body1_index++) {
var body1 = this.bodyArr[body1_index];
//console.log('body1', body1_index, body1.type);
if(!body1) {
continue;
}
body1.stepCount = this.stepCount;
for(var body2_index = 0; body2_index < this.bodyArr.length; body2_index++) {
for(var body2_index = 0; body2_index < bl; body2_index++) {
var body2 = this.bodyArr[body2_index];
//console.log('body2', body2_index, body2.type);
if(!body2) {
if(body1.inContact(body2) == false) {
continue;
}
if(body1.stepCount == body2.stepCount) {
continue;
}
//console.log('step');
var active1 = body1.isAwake && !body1.isStatic;
var active2 = body2.isAwake && !body2.isStatic;
if(!active1 && !active2) {
continue;
}
//console.log('active');
if(!body1.isCollidable(body2)) {
continue;
}
//console.log('collideable');
if(!body1.bounds.intersectsBounds(body2.bounds)) {
continue;
}
//console.log('>>>>>>>>>> intersects');
Advanced.Manager.write('body1 and body2 intersect');
for(var i = 0; i < body1.shapes.length; i++) {
for(var j = 0; j < body2.shapes.length; j++) {
var shape1 = body1.shapes[i];
@ -20998,10 +21090,12 @@ var Phaser;
}
this.numContacts += contactArr.length;
var contactSolver = this.findContactSolver(shape1, shape2);
Advanced.Manager.write('findContactSolver result: ' + contactSolver);
if(contactSolver) {
contactSolver.update(contactArr);
newContactSolverArr.push(contactSolver);
} else {
Advanced.Manager.write('awake both bodies');
body1.awake(true);
body2.awake(true);
var newContactSolver = new Advanced.ContactSolver(shape1, shape2);
@ -21009,15 +21103,18 @@ var Phaser;
newContactSolver.elasticity = Math.max(shape1.elasticity, shape2.elasticity);
newContactSolver.friction = Math.sqrt(shape1.friction * shape2.friction);
newContactSolverArr.push(newContactSolver);
}
Advanced.Manager.write('new contact solver');
//console.log(newContactSolver);
}
}
}
}
}
//stats.timeCollision = Date.now() - t0;
return newContactSolverArr;
};
Space.prototype.initSolver = function (dt, dt_inv, warmStarting) {
Advanced.Manager.write('initSolver');
Advanced.Manager.write('contactSolvers.length: ' + this.contactSolvers.length);
//var t0 = Date.now();
// Initialize contact solvers
for(var i = 0; i < this.contactSolvers.length; i++) {
@ -21038,6 +21135,7 @@ var Phaser;
//stats.timeInitSolver = Date.now() - t0;
};
Space.prototype.velocitySolver = function (iteration) {
Advanced.Manager.write('velocitySolver, iterations: ' + iteration + ' csa len: ' + this.contactSolvers.length);
//var t0 = Date.now();
for(var i = 0; i < iteration; i++) {
for(var j = 0; j < this.jointArr.length; j++) {
@ -21049,12 +21147,9 @@ var Phaser;
this.contactSolvers[j].solveVelocityConstraints();
}
}
//stats.timeVelocitySolver = Date.now() - t0;
};
};
Space.prototype.positionSolver = function (iteration) {
//var t0 = Date.now();
var positionSolved = false;
//stats.positionIterations = 0;
for(var i = 0; i < iteration; i++) {
var contactsOk = true;
var jointsOk = true;
@ -21073,126 +21168,147 @@ var Phaser;
positionSolved = true;
break;
}
//stats.positionIterations++;
}
//stats.timePositionSolver = Date.now() - t0;
}
return positionSolved;
};
Space.prototype.step = function (dt, vel_iteration, pos_iteration, warmStarting, allowSleep) {
Advanced.Manager.clear();
Advanced.Manager.write('Space step ' + this.stepCount);
var dt_inv = 1 / dt;
var bl = this.bodyArr.length;
var jl = this.jointArr.length;
this.stepCount++;
// Generate contact & contactSolver
// 1) Generate Contact Solvers
this.contactSolvers = this.genTemporalContactSolvers();
// Initialize contacts & joints solver
Advanced.Manager.dump("Contact Solvers", this.bodyArr[1]);
// 2) Initialize the Contact Solvers
this.initSolver(dt, dt_inv, warmStarting);
// Intergrate velocity
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.updateVelocity(this.gravity, dt, this.damping);
Advanced.Manager.dump("Init Solver", this.bodyArr[1]);
// 3) Intergrate velocity
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].updateVelocity(this.gravity, dt, this.damping);
}
}
for(var i = 0; i < this.jointArr.length; i++) {
var joint = this.jointArr[i];
if(!joint) {
continue;
}
var body1 = joint.body1;
var body2 = joint.body2;
var awake1 = body1.isAwake && !body1.isStatic;
var awake2 = body2.isAwake && !body2.isStatic;
if(awake1 ^ awake2) {
if(!awake1) {
body1.awake(true);
}
if(!awake2) {
body2.awake(true);
}
}
Advanced.Manager.dump("Update Velocity", this.bodyArr[1]);
/*
// 4) Awaken bodies
for (var j = 0; i < jl; j++)
{
var joint = this.jointArr[j];
if (!joint)
{
continue;
}
// Iterative velocity constraints solver
var body1 = joint.body1;
var body2 = joint.body2;
var awake1 = body1.isAwake && !body1.isStatic;
var awake2 = body2.isAwake && !body2.isStatic;
if (awake1 ^ awake2)
{
if (!awake1)
{
body1.awake(true);
}
if (!awake2)
{
body2.awake(true);
}
}
}
*/
// 5) Iterative velocity constraints solver
this.velocitySolver(vel_iteration);
// Intergrate position
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.updatePosition(dt);
Advanced.Manager.dump("Velocity Solvers", this.bodyArr[1]);
// 6) Intergrate position
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].updatePosition(dt);
}
}
// Process breakable joint
for(var i = 0; i < this.jointArr.length; i++) {
var joint = this.jointArr[i];
if(!joint) {
continue;
}
if(joint.breakable) {
if(joint.getReactionForce(dt_inv).lengthsq() >= joint.maxForce * joint.maxForce) {
this.removeJoint(joint);
}
Advanced.Manager.dump("Update Position", this.bodyArr[1]);
// 7) Process breakable joint
for(var i = 0; i < jl; i++) {
if(this.jointArr[i] && this.jointArr[i].breakable && (this.jointArr[i].getReactionForce(dt_inv).lengthSq() >= this.jointArr[i].maxForce * this.jointArr[i].maxForce)) {
this.removeJoint(this.jointArr[i]);
}
}
// Iterative position constraints solver
// 8) Iterative position constraints solver
var positionSolved = this.positionSolver(pos_iteration);
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
Advanced.Manager.dump("Position Solver", this.bodyArr[1]);
// 9) Sync the Transforms
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i]) {
this.bodyArr[i].syncTransform();
}
body.syncTransform();
}
// Post solve collision callback
Advanced.Manager.dump("Sync Transform", this.bodyArr[1]);
// 10) Post solve collision callback
for(var i = 0; i < this.contactSolvers.length; i++) {
var arb = this.contactSolvers[i];
// Re-enable this
//this.postSolve(arb);
}
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(body.isDynamic && body.isAwake) {
body.cacheData();
// 11) Cache Body Data
for(var i = 0; i < bl; i++) {
if(this.bodyArr[i] && this.bodyArr[i].isDynamic && this.bodyArr[i].isAwake) {
this.bodyArr[i].cacheData('post solve collision callback');
}
}
// Process sleeping
if(allowSleep) {
var minSleepTime = 999999;
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
if(!body.isDynamic) {
continue;
}
if(body.angularVelocity * body.angularVelocity > angTolSqr || body.velocity.dot(body.velocity) > linTolSqr) {
body.sleepTime = 0;
minSleepTime = 0;
} else {
body.sleepTime += dt;
minSleepTime = Math.min(minSleepTime, body.sleepTime);
}
}
if(positionSolved && minSleepTime >= Space.TIME_TO_SLEEP) {
for(var i = 0; i < this.bodyArr.length; i++) {
var body = this.bodyArr[i];
if(!body) {
continue;
}
body.awake(false);
}
}
Advanced.Manager.dump("Cache Data", this.bodyArr[1]);
Advanced.Manager.writeAll();
// 12) Process sleeping
/*
if (allowSleep)
{
var minSleepTime = 999999;
var linTolSqr = Space.SLEEP_LINEAR_TOLERANCE * Space.SLEEP_LINEAR_TOLERANCE;
var angTolSqr = Space.SLEEP_ANGULAR_TOLERANCE * Space.SLEEP_ANGULAR_TOLERANCE;
for (var i = 0; i < bl; i++)
{
var body = this.bodyArr[i];
if (!this.bodyArr[i] || this.bodyArr[i].isDynamic == false)
{
continue;
}
};
if (body.angularVelocity * body.angularVelocity > angTolSqr || body.velocity.dot(body.velocity) > linTolSqr)
{
body.sleepTime = 0;
minSleepTime = 0;
}
else
{
body.sleepTime += dt;
minSleepTime = Math.min(minSleepTime, body.sleepTime);
}
}
if (positionSolved && minSleepTime >= Space.TIME_TO_SLEEP)
{
for (var i = 0; i < this.bodyArr.length; i++)
{
var body = this.bodyArr[i];
if (!body)
{
continue;
}
body.awake(false);
}
}
}
*/
};
return Space;
})();
Advanced.Space = Space;
@ -21269,10 +21385,10 @@ var Phaser;
__extends(Box, _super);
// Give in pixels
function Box(x, y, width, height) {
x = Advanced.Manager.pixelsToMeters(x);
y = Advanced.Manager.pixelsToMeters(y);
width = Advanced.Manager.pixelsToMeters(width);
height = Advanced.Manager.pixelsToMeters(height);
//x = Manager.pixelsToMeters(x);
//y = Manager.pixelsToMeters(y);
//width = Manager.pixelsToMeters(width);
//height = Manager.pixelsToMeters(height);
var hw = width * 0.5;
var hh = height * 0.5;
_super.call(this, [
@ -21375,6 +21491,9 @@ var Phaser;
this.maskBits = 0xFFFF;
this.stepCount = 0;
}
Body.prototype.toString = function () {
return "[{Body (name=" + this.name + " velocity=" + this.velocity.toString() + " angularVelocity: " + this.angularVelocity + ")}]";
};
Body.prototype.duplicate = function () {
//console.log('body duplicate called');
//var body = new Body(this.type, this.transform.t, this.angle);
@ -21498,19 +21617,25 @@ var Phaser;
Body.prototype.setTransform = function (pos, angle) {
this.transform.setTo(pos, angle);
// inject the transform into this.position
Advanced.Manager.write('setTransform: ' + this.position.toString());
Advanced.Manager.write('centroid: ' + this.centroid.toString());
Phaser.TransformUtils.transform(this.transform, this.centroid, this.position);
Advanced.Manager.write('post setTransform: ' + this.position.toString());
//this.position.copyFrom(this.transform.transform(this.centroid));
this.angle = angle;
};
Body.prototype.syncTransform = function () {
Advanced.Manager.write('syncTransform:');
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('centroid: ' + this.centroid.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('a: ' + this.angle);
this.transform.setRotation(this.angle);
//var rotc: Phaser.Vec2 = this.transform.rotate(this.centroid);
//var sub: Phaser.Vec2 = Phaser.Vec2Utils.subtract(this.position, rotc);
//this.transform.setPosition(sub);
// this.transform.setPosition(vec2.sub(this.position, this.transform.rotate(this.centroid)));
//Phaser.Vec2Utils.subtract(this.position, this.transform.rotate(this.centroid), this.transform.t);
// OPTIMISE: Creating new vector
Phaser.Vec2Utils.subtract(this.position, Phaser.TransformUtils.rotate(this.transform, this.centroid), this.transform.t);
Advanced.Manager.write('--------------------');
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('--------------------');
};
Body.prototype.getWorldPoint = function (p) {
// OPTIMISE: Creating new vector
@ -21585,14 +21710,21 @@ var Phaser;
joint.setWorldAnchor2(anchor2);
}
};
Body.prototype.cacheData = function () {
//console.log('Body cacheData', this.name, 'len', this.shapes.length);
Body.prototype.cacheData = function (source) {
if (typeof source === "undefined") { source = ''; }
Advanced.Manager.write('cacheData -- start');
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
this.bounds.clear();
for(var i = 0; i < this.shapes.length; i++) {
var shape = this.shapes[i];
shape.cacheData(this.transform);
this.bounds.addBounds(shape.bounds);
}
Advanced.Manager.write('bounds: ' + this.bounds.toString());
Advanced.Manager.write('p: ' + this.position.toString());
Advanced.Manager.write('xf: ' + this.transform.toString());
Advanced.Manager.write('cacheData -- stop');
};
Body.prototype.updateVelocity = function (gravity, dt, damping) {
// this.velocity = vec2.mad(this.velocity, vec2.mad(gravity, this.force, this.massInverted), dt);
@ -21606,11 +21738,29 @@ var Phaser;
// v2 = exp(-c * dt) * v1
// Taylor expansion:
// v2 = (1.0f - c * dt) * v1
this.velocity.scale(this.game.math.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.game.math.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.velocity.scale(this.clamp(1 - dt * (damping + this.linearDamping), 0, 1));
this.angularVelocity *= this.clamp(1 - dt * (damping + this.angularDamping), 0, 1);
this.force.setTo(0, 0);
this.torque = 0;
};
Body.prototype.inContact = function (body2) {
if(!body2 || this.stepCount == body2.stepCount) {
return false;
}
if(!(this.isAwake && this.isStatic == false) && !(body2.isAwake && body2.isStatic == false)) {
return false;
}
if(this.isCollidable(body2) == false) {
return false;
}
if(!this.bounds.intersectsBounds(body2.bounds)) {
return false;
}
return true;
};
Body.prototype.clamp = function (v, min, max) {
return v < min ? min : (v > max ? max : v);
};
Body.prototype.updatePosition = function (dt) {
//console.log('body update pos', this.position.y);
//console.log('pre add temp', this._tempVec2.y);
@ -21711,10 +21861,7 @@ var Phaser;
}
for(var i = 0; i < this.joints.length; i++) {
var joint = this.joints[i];
if(!joint) {
continue;
}
if(!joint.collideConnected && other.jointHash[joint.id] != undefined) {
if(!this.joints[i] || (!this.joints[i].collideConnected && other.jointHash[this.joints[i].id] != undefined)) {
return false;
}
}