mirror of
https://github.com/photonstorm/phaser
synced 2024-12-13 23:02:56 +00:00
851 lines
No EOL
23 KiB
TypeScript
851 lines
No EOL
23 KiB
TypeScript
/// <reference path="../../math/Vec2.ts" />
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/// <reference path="../../math/Vec2Utils.ts" />
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/// <reference path="Manager.ts" />
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/// <reference path="Body.ts" />
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/// <reference path="shapes/Shape.ts" />
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/// <reference path="ContactSolver.ts" />
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/// <reference path="Contact.ts" />
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/// <reference path="Collision.ts" />
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/// <reference path="joints/IJoint.ts" />
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/**
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* Phaser - Advanced Physics - Space
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*
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* Based on the work Ju Hyung Lee started in JS PhyRus.
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*/
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module Phaser.Physics.Advanced {
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export class Space {
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constructor() {
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this.bodyArr = [];
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this.bodyHash = {};
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this.jointArr = [];
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this.jointHash = {};
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this.numContacts = 0;
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this.contactSolvers = [];
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//this.postSolve(arb) { };
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this.gravity = new Phaser.Vec2(0, 10);
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this.damping = 0;
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}
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public static TIME_TO_SLEEP = 0.5;
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public static SLEEP_LINEAR_TOLERANCE = 0.5;
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public static SLEEP_ANGULAR_TOLERANCE = 2 * Phaser.GameMath.DEG_TO_RAD;
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public bodyArr: Body[];
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public bodyHash;
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public jointArr: IJoint[];
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public jointHash;
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public numContacts: number;
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public contactSolvers: ContactSolver[];
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public postSolve;
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public gravity: Phaser.Vec2;
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public damping: number;
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public stepCount: number = 0;
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public clear() {
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Manager.shapeCounter = 0;
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Manager.bodyCounter = 0;
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Manager.jointCounter = 0;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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if (this.bodyArr[i])
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{
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this.removeBody(this.bodyArr[i]);
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}
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}
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this.bodyArr = [];
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this.bodyHash = {};
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this.jointArr = [];
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this.jointHash = {};
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this.contactSolvers = [];
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this.stepCount = 0;
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}
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public addBody(body: Body) {
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if (this.bodyHash[body.id] != undefined)
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{
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return;
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}
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//console.log('Body added to space', body.name);
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var index = this.bodyArr.push(body) - 1;
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this.bodyHash[body.id] = index;
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body.awake(true);
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body.space = this;
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body.cacheData();
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}
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public removeBody(body: Body) {
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if (this.bodyHash[body.id] == undefined)
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{
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return;
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}
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// Remove linked joint
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for (var i = 0; i < body.joints.length; i++)
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{
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if (body.joints[i])
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{
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this.removeJoint(body.joints[i]);
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}
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}
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body.space = null;
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var index = this.bodyHash[body.id];
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delete this.bodyHash[body.id];
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delete this.bodyArr[index];
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}
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public addJoint(joint: IJoint) {
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if (this.jointHash[joint.id] != undefined)
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{
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return;
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}
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joint.body1.awake(true);
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joint.body2.awake(true);
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var index = this.jointArr.push(joint) - 1;
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this.jointHash[joint.id] = index;
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var index = joint.body1.joints.push(joint) - 1;
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joint.body1.jointHash[joint.id] = index;
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var index = joint.body2.joints.push(joint) - 1;
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joint.body2.jointHash[joint.id] = index;
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}
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public removeJoint(joint: IJoint) {
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if (this.jointHash[joint.id] == undefined)
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{
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return;
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}
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joint.body1.awake(true);
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joint.body2.awake(true);
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var index = joint.body1.jointHash[joint.id];
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delete joint.body1.jointHash[joint.id];
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delete joint.body1.joints[index];
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var index = joint.body2.jointHash[joint.id];
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delete joint.body2.jointHash[joint.id];
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delete joint.body2.joints[index];
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var index = this.jointHash[joint.id];
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delete this.jointHash[joint.id];
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delete this.jointArr[index];
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}
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public findShapeByPoint(p, refShape) {
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var firstShape;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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var body = this.bodyArr[i];
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if (!body)
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{
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continue;
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}
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for (var j = 0; j < body.shapes.length; j++)
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{
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var shape = body.shapes[j];
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if (shape.pointQuery(p))
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{
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if (!refShape)
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{
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return shape;
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}
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if (!firstShape)
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{
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firstShape = shape;
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}
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if (shape == refShape)
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{
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refShape = null;
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}
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}
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}
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}
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return firstShape;
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}
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public findBodyByPoint(p, refBody: Body) {
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var firstBody;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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var body = this.bodyArr[i];
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if (!body)
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{
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continue;
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}
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for (var j = 0; j < body.shapes.length; j++)
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{
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var shape = body.shapes[j];
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if (shape.pointQuery(p))
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{
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if (!refBody)
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{
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return shape.body;
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}
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if (!firstBody)
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{
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firstBody = shape.body;
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}
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if (shape.body == refBody)
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{
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refBody = null;
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}
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break;
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}
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}
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}
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return firstBody;
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}
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// TODO: Replace this function to shape hashing
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public shapeById(id) {
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var shape;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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var body = this.bodyArr[i];
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if (!body)
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{
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continue;
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}
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for (var j = 0; j < body.shapes.length; j++)
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{
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if (body.shapes[j].id == id)
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{
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return body.shapes[j];
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}
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}
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}
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return null;
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}
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public jointById(id) {
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var index = this.jointHash[id];
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if (index != undefined)
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{
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return this.jointArr[index];
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}
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return null;
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}
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public findVertexByPoint(p, minDist, refVertexId) {
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var firstVertexId = -1;
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refVertexId = refVertexId || -1;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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var body = this.bodyArr[i];
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if (!body)
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{
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continue;
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}
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for (var j = 0; j < body.shapes.length; j++)
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{
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var shape = body.shapes[j];
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var index = shape.findVertexByPoint(p, minDist);
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if (index != -1)
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{
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var vertex = (shape.id << 16) | index;
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if (refVertexId == -1)
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{
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return vertex;
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}
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if (firstVertexId == -1)
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{
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firstVertexId = vertex;
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}
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if (vertex == refVertexId)
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{
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refVertexId = -1;
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}
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}
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}
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}
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return firstVertexId;
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}
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public findEdgeByPoint(p, minDist, refEdgeId) {
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var firstEdgeId = -1;
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refEdgeId = refEdgeId || -1;
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for (var i = 0; i < this.bodyArr.length; i++)
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{
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var body = this.bodyArr[i];
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if (!body)
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{
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continue;
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}
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for (var j = 0; j < body.shapes.length; j++)
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{
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var shape = body.shapes[j];
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if (shape.type != Manager.SHAPE_TYPE_POLY)
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{
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continue;
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}
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var index = shape.findEdgeByPoint(p, minDist);
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if (index != -1)
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{
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var edge = (shape.id << 16) | index;
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if (refEdgeId == -1)
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{
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return edge;
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}
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if (firstEdgeId == -1)
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{
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firstEdgeId = edge;
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}
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if (edge == refEdgeId)
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{
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refEdgeId = -1;
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}
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}
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}
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}
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return firstEdgeId;
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}
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public findJointByPoint(p, minDist, refJointId) {
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var firstJointId = -1;
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var dsq = minDist * minDist;
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refJointId = refJointId || -1;
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for (var i = 0; i < this.jointArr.length; i++)
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{
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var joint = this.jointArr[i];
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if (!joint)
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{
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continue;
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}
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var jointId = -1;
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if (Phaser.Vec2Utils.distanceSq(p, joint.getWorldAnchor1()) < dsq)
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{
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jointId = (joint.id << 16 | 0);
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}
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else if (Phaser.Vec2Utils.distanceSq(p, joint.getWorldAnchor2()) < dsq)
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{
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jointId = (joint.id << 16 | 1);
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}
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if (jointId != -1)
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{
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if (refJointId == -1)
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{
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return jointId;
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}
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if (firstJointId == -1)
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{
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firstJointId = jointId;
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}
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if (jointId == refJointId)
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{
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refJointId = -1;
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}
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}
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}
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return firstJointId;
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}
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public findContactSolver(shape1, shape2) {
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for (var i = 0; i < this.contactSolvers.length; i++)
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{
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var contactSolver = this.contactSolvers[i];
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if (shape1 == contactSolver.shape1 && shape2 == contactSolver.shape2)
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{
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return contactSolver;
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}
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}
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return null;
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}
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public genTemporalContactSolvers() {
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//console.log('genTemporalContactSolvers');
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//var t0 = Date.now();
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var newContactSolverArr = [];
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this.numContacts = 0;
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for (var body1_index = 0; body1_index < this.bodyArr.length; body1_index++)
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{
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var body1: Body = this.bodyArr[body1_index];
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//console.log('body1', body1_index, body1.type);
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if (!body1)
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{
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continue;
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}
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body1.stepCount = this.stepCount;
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for (var body2_index = 0; body2_index < this.bodyArr.length; body2_index++)
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{
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var body2: Body = this.bodyArr[body2_index];
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//console.log('body2', body2_index, body2.type);
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if (!body2)
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{
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continue;
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}
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if (body1.stepCount == body2.stepCount)
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{
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continue;
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}
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//console.log('step');
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var active1 = body1.isAwake && !body1.isStatic;
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var active2 = body2.isAwake && !body2.isStatic;
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if (!active1 && !active2)
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{
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continue;
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}
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//console.log('active');
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if (!body1.isCollidable(body2))
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{
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continue;
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}
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//console.log('collideable');
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if (!body1.bounds.intersectsBounds(body2.bounds))
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{
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continue;
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}
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//console.log('>>>>>>>>>> intersects');
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for (var i = 0; i < body1.shapes.length; i++)
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{
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for (var j = 0; j < body2.shapes.length; j++)
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{
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var shape1 = body1.shapes[i];
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var shape2 = body2.shapes[j];
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var contactArr = [];
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if (!Manager.collision.collide(shape1, shape2, contactArr))
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{
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continue;
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}
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if (shape1.type > shape2.type)
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{
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var temp = shape1;
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shape1 = shape2;
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shape2 = temp;
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}
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this.numContacts += contactArr.length;
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var contactSolver = this.findContactSolver(shape1, shape2);
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if (contactSolver)
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{
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contactSolver.update(contactArr);
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newContactSolverArr.push(contactSolver);
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}
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else
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{
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body1.awake(true);
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body2.awake(true);
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var newContactSolver = new ContactSolver(shape1, shape2);
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newContactSolver.contacts = contactArr;
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newContactSolver.elasticity = Math.max(shape1.elasticity, shape2.elasticity);
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newContactSolver.friction = Math.sqrt(shape1.friction * shape2.friction);
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newContactSolverArr.push(newContactSolver);
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}
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}
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}
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}
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}
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//stats.timeCollision = Date.now() - t0;
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return newContactSolverArr;
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}
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public initSolver(dt, dt_inv, warmStarting) {
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//var t0 = Date.now();
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// Initialize contact solvers
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for (var i = 0; i < this.contactSolvers.length; i++)
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{
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this.contactSolvers[i].initSolver(dt_inv);
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}
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// Initialize joint solver
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for (var i = 0; i < this.jointArr.length; i++)
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{
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if (this.jointArr[i])
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{
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this.jointArr[i].initSolver(dt, warmStarting);
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}
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}
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// Warm starting (apply cached impulse)
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if (warmStarting)
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{
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for (var i = 0; i < this.contactSolvers.length; i++)
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{
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this.contactSolvers[i].warmStart();
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}
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}
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//stats.timeInitSolver = Date.now() - t0;
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}
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public velocitySolver(iteration) {
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//var t0 = Date.now();
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for (var i = 0; i < iteration; i++)
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{
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for (var j = 0; j < this.jointArr.length; j++)
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{
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if (this.jointArr[j])
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{
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this.jointArr[j].solveVelocityConstraints();
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}
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}
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for (var j = 0; j < this.contactSolvers.length; j++)
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{
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this.contactSolvers[j].solveVelocityConstraints();
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}
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}
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//stats.timeVelocitySolver = Date.now() - t0;
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}
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public positionSolver(iteration) {
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//var t0 = Date.now();
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var positionSolved = false;
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//stats.positionIterations = 0;
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for (var i = 0; i < iteration; i++)
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{
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var contactsOk = true;
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var jointsOk = true;
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for (var j = 0; j < this.contactSolvers.length; j++)
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{
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var contactOk = this.contactSolvers[j].solvePositionConstraints();
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contactsOk = contactOk && contactsOk;
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}
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for (var j = 0; j < this.jointArr.length; j++)
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{
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if (this.jointArr[j])
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{
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var jointOk = this.jointArr[j].solvePositionConstraints();
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jointsOk = jointOk && jointsOk;
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}
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}
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if (contactsOk && jointsOk)
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{
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// exit early if the position errors are small
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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;
|
|
|
|
this.stepCount++;
|
|
|
|
// Generate contact & contactSolver
|
|
this.contactSolvers = this.genTemporalContactSolvers();
|
|
|
|
// Initialize contacts & joints solver
|
|
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);
|
|
}
|
|
}
|
|
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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);
|
|
}
|
|
}
|
|
|
|
// 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);
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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;
|
|
}
|
|
|
|
body.syncTransform();
|
|
}
|
|
|
|
// 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();
|
|
}
|
|
}
|
|
|
|
// 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);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
} |