box2d-rails 0.0.1
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- data/.gitignore +17 -0
- data/Gemfile +4 -0
- data/LICENSE.txt +22 -0
- data/README.md +29 -0
- data/Rakefile +1 -0
- data/box2d-rails.gemspec +20 -0
- data/lib/box2d-rails.rb +8 -0
- data/lib/box2d-rails/version.rb +5 -0
- data/vendor/assets/javascripts/box2d/collision/ClipVertex.js +35 -0
- data/vendor/assets/javascripts/box2d/collision/Features.js +61 -0
- data/vendor/assets/javascripts/box2d/collision/b2AABB.js +45 -0
- data/vendor/assets/javascripts/box2d/collision/b2Bound.js +43 -0
- data/vendor/assets/javascripts/box2d/collision/b2BoundValues.js +31 -0
- data/vendor/assets/javascripts/box2d/collision/b2BroadPhase.js +898 -0
- data/vendor/assets/javascripts/box2d/collision/b2BufferedPair.js +26 -0
- data/vendor/assets/javascripts/box2d/collision/b2Collision.js +738 -0
- data/vendor/assets/javascripts/box2d/collision/b2ContactID.js +52 -0
- data/vendor/assets/javascripts/box2d/collision/b2ContactPoint.js +35 -0
- data/vendor/assets/javascripts/box2d/collision/b2Distance.js +333 -0
- data/vendor/assets/javascripts/box2d/collision/b2Manifold.js +34 -0
- data/vendor/assets/javascripts/box2d/collision/b2OBB.js +34 -0
- data/vendor/assets/javascripts/box2d/collision/b2Pair.js +60 -0
- data/vendor/assets/javascripts/box2d/collision/b2PairCallback.js +34 -0
- data/vendor/assets/javascripts/box2d/collision/b2PairManager.js +386 -0
- data/vendor/assets/javascripts/box2d/collision/b2Proxy.js +40 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2BoxDef.js +49 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2CircleDef.js +49 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2CircleShape.js +198 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2MassData.js +36 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2PolyDef.js +58 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2PolyShape.js +492 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2Shape.js +339 -0
- data/vendor/assets/javascripts/box2d/collision/shapes/b2ShapeDef.js +109 -0
- data/vendor/assets/javascripts/box2d/common/b2Settings.js +72 -0
- data/vendor/assets/javascripts/box2d/common/math/b2Mat22.js +130 -0
- data/vendor/assets/javascripts/box2d/common/math/b2Math.js +218 -0
- data/vendor/assets/javascripts/box2d/common/math/b2Vec2.js +131 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2Body.js +469 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2BodyDef.js +69 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2CollisionFilter.js +42 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2ContactManager.js +337 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2Island.js +331 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2TimeStep.js +27 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2World.js +522 -0
- data/vendor/assets/javascripts/box2d/dynamics/b2WorldListener.js +52 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2CircleContact.js +102 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2Conservative.js +228 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2Contact.js +201 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactConstraint.js +45 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactConstraintPoint.js +40 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactNode.js +33 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactRegister.js +30 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactSolver.js +537 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2NullContact.js +65 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2PolyAndCircleContact.js +103 -0
- data/vendor/assets/javascripts/box2d/dynamics/contacts/b2PolyContact.js +163 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2DistanceJoint.js +264 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2DistanceJointDef.js +49 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2GearJoint.js +307 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2GearJointDef.js +50 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2Jacobian.js +49 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2Joint.js +200 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2JointDef.js +40 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2JointNode.js +33 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2MouseJoint.js +234 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2MouseJointDef.js +53 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2PrismaticJoint.js +676 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2PrismaticJointDef.js +56 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2PulleyJoint.js +618 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2PulleyJointDef.js +70 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2RevoluteJoint.js +491 -0
- data/vendor/assets/javascripts/box2d/dynamics/joints/b2RevoluteJointDef.js +55 -0
- metadata +133 -0
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/*
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* Copyright (c) 2006-2007 Erin Catto http:
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked, and must not be
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* misrepresented the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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var b2MouseJointDef = Class.create();
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Object.extend(b2MouseJointDef.prototype, b2JointDef.prototype);
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Object.extend(b2MouseJointDef.prototype,
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{
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initialize: function()
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{
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// The constructor for b2JointDef
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this.type = b2Joint.e_unknownJoint;
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this.userData = null;
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this.body1 = null;
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this.body2 = null;
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this.collideConnected = false;
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//
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// initialize instance variables for references
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this.target = new b2Vec2();
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//
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this.type = b2Joint.e_mouseJoint;
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this.maxForce = 0.0;
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this.frequencyHz = 5.0;
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this.dampingRatio = 0.7;
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this.timeStep = 1.0 / 60.0;
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},
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target: new b2Vec2(),
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maxForce: null,
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frequencyHz: null,
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dampingRatio: null,
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timeStep: null});
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/*
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* Copyright (c) 2006-2007 Erin Catto http:
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked, and must not be
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* misrepresented the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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// Linear constraint (point-to-line)
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// d = p2 - p1 = x2 + r2 - x1 - r1
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// C = dot(ay1, d)
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// Cdot = dot(d, cross(w1, ay1)) + dot(ay1, v2 + cross(w2, r2) - v1 - cross(w1, r1))
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// = -dot(ay1, v1) - dot(cross(d + r1, ay1), w1) + dot(ay1, v2) + dot(cross(r2, ay1), v2)
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// J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)]
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//
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// Angular constraint
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// C = a2 - a1 + a_initial
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// Cdot = w2 - w1
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// J = [0 0 -1 0 0 1]
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// Motor/Limit linear constraint
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// C = dot(ax1, d)
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// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2)
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// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)]
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var b2PrismaticJoint = Class.create();
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Object.extend(b2PrismaticJoint.prototype, b2Joint.prototype);
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Object.extend(b2PrismaticJoint.prototype,
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{
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GetAnchor1: function(){
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var b1 = this.m_body1;
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//return b2Math.AddVV(b1.m_position, b2Math.b2MulMV(b1.m_R, this.m_localAnchor1));
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var tVec = new b2Vec2();
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tVec.SetV(this.m_localAnchor1);
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tVec.MulM(b1.m_R);
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tVec.Add(b1.m_position);
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return tVec;
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},
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GetAnchor2: function(){
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var b2 = this.m_body2;
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//return b2Math.AddVV(b2.m_position, b2Math.b2MulMV(b2.m_R, this.m_localAnchor2));
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var tVec = new b2Vec2();
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tVec.SetV(this.m_localAnchor2);
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tVec.MulM(b2.m_R);
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tVec.Add(b2.m_position);
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return tVec;
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},
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GetJointTranslation: function(){
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var b1 = this.m_body1;
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var b2 = this.m_body2;
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var tMat;
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//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
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tMat = b1.m_R;
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var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
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var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
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//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
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tMat = b2.m_R;
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var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
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var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
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//var p1 = b2Math.AddVV(b1.m_position , r1);
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var p1X = b1.m_position.x + r1X;
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var p1Y = b1.m_position.y + r1Y;
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//var p2 = b2Math.AddVV(b2.m_position , r2);
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var p2X = b2.m_position.x + r2X;
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var p2Y = b2.m_position.y + r2Y;
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//var d = b2Math.SubtractVV(p2, p1);
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var dX = p2X - p1X;
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var dY = p2Y - p1Y;
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//var ax1 = b2Math.b2MulMV(b1.m_R, this.m_localXAxis1);
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tMat = b1.m_R;
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var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
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var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
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//var translation = b2Math.b2Dot(ax1, d);
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var translation = ax1X*dX + ax1Y*dY;
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return translation;
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},
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GetJointSpeed: function(){
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var b1 = this.m_body1;
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var b2 = this.m_body2;
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var tMat;
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//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
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tMat = b1.m_R;
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var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
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var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
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//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
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tMat = b2.m_R;
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var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
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var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
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//var p1 = b2Math.AddVV(b1.m_position , r1);
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var p1X = b1.m_position.x + r1X;
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var p1Y = b1.m_position.y + r1Y;
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//var p2 = b2Math.AddVV(b2.m_position , r2);
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var p2X = b2.m_position.x + r2X;
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var p2Y = b2.m_position.y + r2Y;
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//var d = b2Math.SubtractVV(p2, p1);
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var dX = p2X - p1X;
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var dY = p2Y - p1Y;
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//var ax1 = b2Math.b2MulMV(b1.m_R, this.m_localXAxis1);
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tMat = b1.m_R;
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var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
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var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
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var v1 = b1.m_linearVelocity;
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var v2 = b2.m_linearVelocity;
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var w1 = b1.m_angularVelocity;
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var w2 = b2.m_angularVelocity;
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//var speed = b2Math.b2Dot(d, b2Math.b2CrossFV(w1, ax1)) + b2Math.b2Dot(ax1, b2Math.SubtractVV( b2Math.SubtractVV( b2Math.AddVV( v2 , b2Math.b2CrossFV(w2, r2)) , v1) , b2Math.b2CrossFV(w1, r1)));
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//var b2D = (dX*(-w1 * ax1Y) + dY*(w1 * ax1X));
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//var b2D2 = (ax1X * ((( v2.x + (-w2 * r2Y)) - v1.x) - (-w1 * r1Y)) + ax1Y * ((( v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
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var speed = (dX*(-w1 * ax1Y) + dY*(w1 * ax1X)) + (ax1X * ((( v2.x + (-w2 * r2Y)) - v1.x) - (-w1 * r1Y)) + ax1Y * ((( v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
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return speed;
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},
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GetMotorForce: function(invTimeStep){
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return invTimeStep * this.m_motorImpulse;
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},
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SetMotorSpeed: function(speed)
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{
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this.m_motorSpeed = speed;
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},
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SetMotorForce: function(force)
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{
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this.m_maxMotorForce = force;
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},
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GetReactionForce: function(invTimeStep)
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{
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var tImp = invTimeStep * this.m_limitImpulse;
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var tMat;
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//var ax1 = b2Math.b2MulMV(this.m_body1.m_R, this.m_localXAxis1);
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tMat = this.m_body1.m_R;
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var ax1X = tImp * (tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y);
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var ax1Y = tImp * (tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y);
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//var ay1 = b2Math.b2MulMV(this.m_body1.m_R, this.m_localYAxis1);
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var ay1X = tImp * (tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y);
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var ay1Y = tImp * (tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y);
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//return (invTimeStep * this.m_limitImpulse) * ax1 + (invTimeStep * this.m_linearImpulse) * ay1;
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return new b2Vec2(ax1X+ay1X, ax1Y+ay1Y);
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},
|
166
|
+
|
167
|
+
GetReactionTorque: function(invTimeStep)
|
168
|
+
{
|
169
|
+
return invTimeStep * this.m_angularImpulse;
|
170
|
+
},
|
171
|
+
|
172
|
+
|
173
|
+
//--------------- Internals Below -------------------
|
174
|
+
|
175
|
+
initialize: function(def){
|
176
|
+
// The constructor for b2Joint
|
177
|
+
// initialize instance variables for references
|
178
|
+
this.m_node1 = new b2JointNode();
|
179
|
+
this.m_node2 = new b2JointNode();
|
180
|
+
//
|
181
|
+
this.m_type = def.type;
|
182
|
+
this.m_prev = null;
|
183
|
+
this.m_next = null;
|
184
|
+
this.m_body1 = def.body1;
|
185
|
+
this.m_body2 = def.body2;
|
186
|
+
this.m_collideConnected = def.collideConnected;
|
187
|
+
this.m_islandFlag = false;
|
188
|
+
this.m_userData = def.userData;
|
189
|
+
//
|
190
|
+
|
191
|
+
// initialize instance variables for references
|
192
|
+
this.m_localAnchor1 = new b2Vec2();
|
193
|
+
this.m_localAnchor2 = new b2Vec2();
|
194
|
+
this.m_localXAxis1 = new b2Vec2();
|
195
|
+
this.m_localYAxis1 = new b2Vec2();
|
196
|
+
this.m_linearJacobian = new b2Jacobian();
|
197
|
+
this.m_motorJacobian = new b2Jacobian();
|
198
|
+
//
|
199
|
+
|
200
|
+
//super(def);
|
201
|
+
|
202
|
+
var tMat;
|
203
|
+
var tX;
|
204
|
+
var tY;
|
205
|
+
|
206
|
+
//this.m_localAnchor1 = b2Math.b2MulTMV(this.m_body1.m_R, b2Math.SubtractVV(def.anchorPoint , this.m_body1.m_position));
|
207
|
+
tMat = this.m_body1.m_R;
|
208
|
+
tX = (def.anchorPoint.x - this.m_body1.m_position.x);
|
209
|
+
tY = (def.anchorPoint.y - this.m_body1.m_position.y);
|
210
|
+
this.m_localAnchor1.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
|
211
|
+
|
212
|
+
//this.m_localAnchor2 = b2Math.b2MulTMV(this.m_body2.m_R, b2Math.SubtractVV(def.anchorPoint , this.m_body2.m_position));
|
213
|
+
tMat = this.m_body2.m_R;
|
214
|
+
tX = (def.anchorPoint.x - this.m_body2.m_position.x);
|
215
|
+
tY = (def.anchorPoint.y - this.m_body2.m_position.y);
|
216
|
+
this.m_localAnchor2.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
|
217
|
+
|
218
|
+
//this.m_localXAxis1 = b2Math.b2MulTMV(this.m_body1.m_R, def.axis);
|
219
|
+
tMat = this.m_body1.m_R;
|
220
|
+
tX = def.axis.x;
|
221
|
+
tY = def.axis.y;
|
222
|
+
this.m_localXAxis1.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
|
223
|
+
|
224
|
+
//this.m_localYAxis1 = b2Math.b2CrossFV(1.0, this.m_localXAxis1);
|
225
|
+
this.m_localYAxis1.x = -this.m_localXAxis1.y;
|
226
|
+
this.m_localYAxis1.y = this.m_localXAxis1.x;
|
227
|
+
|
228
|
+
this.m_initialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation;
|
229
|
+
|
230
|
+
this.m_linearJacobian.SetZero();
|
231
|
+
this.m_linearMass = 0.0;
|
232
|
+
this.m_linearImpulse = 0.0;
|
233
|
+
|
234
|
+
this.m_angularMass = 0.0;
|
235
|
+
this.m_angularImpulse = 0.0;
|
236
|
+
|
237
|
+
this.m_motorJacobian.SetZero();
|
238
|
+
this.m_motorMass = 0.0;
|
239
|
+
this.m_motorImpulse = 0.0;
|
240
|
+
this.m_limitImpulse = 0.0;
|
241
|
+
this.m_limitPositionImpulse = 0.0;
|
242
|
+
|
243
|
+
this.m_lowerTranslation = def.lowerTranslation;
|
244
|
+
this.m_upperTranslation = def.upperTranslation;
|
245
|
+
this.m_maxMotorForce = def.motorForce;
|
246
|
+
this.m_motorSpeed = def.motorSpeed;
|
247
|
+
this.m_enableLimit = def.enableLimit;
|
248
|
+
this.m_enableMotor = def.enableMotor;
|
249
|
+
},
|
250
|
+
|
251
|
+
PrepareVelocitySolver: function(){
|
252
|
+
var b1 = this.m_body1;
|
253
|
+
var b2 = this.m_body2;
|
254
|
+
|
255
|
+
var tMat;
|
256
|
+
|
257
|
+
// Compute the effective masses.
|
258
|
+
//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
|
259
|
+
tMat = b1.m_R;
|
260
|
+
var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
|
261
|
+
var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
|
262
|
+
//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
|
263
|
+
tMat = b2.m_R;
|
264
|
+
var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
|
265
|
+
var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
|
266
|
+
|
267
|
+
//float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass;
|
268
|
+
var invMass1 = b1.m_invMass;
|
269
|
+
var invMass2 = b2.m_invMass;
|
270
|
+
//float32 invI1 = b1->m_invI, invI2 = b2->m_invI;
|
271
|
+
var invI1 = b1.m_invI;
|
272
|
+
var invI2 = b2.m_invI;
|
273
|
+
|
274
|
+
// Compute point to line constraint effective mass.
|
275
|
+
// J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)]
|
276
|
+
//b2Vec2 ay1 = b2Mul(b1->m_R, this.m_localYAxis1);
|
277
|
+
tMat = b1.m_R;
|
278
|
+
var ay1X = tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y;
|
279
|
+
var ay1Y = tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y;
|
280
|
+
//b2Vec2 e = b2->m_position + r2 - b1->m_position;
|
281
|
+
var eX = b2.m_position.x + r2X - b1.m_position.x;
|
282
|
+
var eY = b2.m_position.y + r2Y - b1.m_position.y;
|
283
|
+
|
284
|
+
//this.m_linearJacobian.Set(-ay1, -b2Math.b2Cross(e, ay1), ay1, b2Math.b2Cross(r2, ay1));
|
285
|
+
this.m_linearJacobian.linear1.x = -ay1X;
|
286
|
+
this.m_linearJacobian.linear1.y = -ay1Y;
|
287
|
+
this.m_linearJacobian.linear2.x = ay1X;
|
288
|
+
this.m_linearJacobian.linear2.y = ay1Y;
|
289
|
+
this.m_linearJacobian.angular1 = -(eX * ay1Y - eY * ay1X);
|
290
|
+
this.m_linearJacobian.angular2 = r2X * ay1Y - r2Y * ay1X;
|
291
|
+
|
292
|
+
this.m_linearMass = invMass1 + invI1 * this.m_linearJacobian.angular1 * this.m_linearJacobian.angular1 +
|
293
|
+
invMass2 + invI2 * this.m_linearJacobian.angular2 * this.m_linearJacobian.angular2;
|
294
|
+
//b2Settings.b2Assert(this.m_linearMass > Number.MIN_VALUE);
|
295
|
+
this.m_linearMass = 1.0 / this.m_linearMass;
|
296
|
+
|
297
|
+
// Compute angular constraint effective mass.
|
298
|
+
this.m_angularMass = 1.0 / (invI1 + invI2);
|
299
|
+
|
300
|
+
// Compute motor and limit terms.
|
301
|
+
if (this.m_enableLimit || this.m_enableMotor)
|
302
|
+
{
|
303
|
+
// The motor and limit share a Jacobian and effective mass.
|
304
|
+
//b2Vec2 ax1 = b2Mul(b1->m_R, this.m_localXAxis1);
|
305
|
+
tMat = b1.m_R;
|
306
|
+
var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
|
307
|
+
var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
|
308
|
+
//this.m_motorJacobian.Set(-ax1, -b2Cross(e, ax1), ax1, b2Cross(r2, ax1));
|
309
|
+
this.m_motorJacobian.linear1.x = -ax1X; this.m_motorJacobian.linear1.y = -ax1Y;
|
310
|
+
this.m_motorJacobian.linear2.x = ax1X; this.m_motorJacobian.linear2.y = ax1Y;
|
311
|
+
this.m_motorJacobian.angular1 = -(eX * ax1Y - eY * ax1X);
|
312
|
+
this.m_motorJacobian.angular2 = r2X * ax1Y - r2Y * ax1X;
|
313
|
+
|
314
|
+
this.m_motorMass = invMass1 + invI1 * this.m_motorJacobian.angular1 * this.m_motorJacobian.angular1 +
|
315
|
+
invMass2 + invI2 * this.m_motorJacobian.angular2 * this.m_motorJacobian.angular2;
|
316
|
+
//b2Settings.b2Assert(this.m_motorMass > Number.MIN_VALUE);
|
317
|
+
this.m_motorMass = 1.0 / this.m_motorMass;
|
318
|
+
|
319
|
+
if (this.m_enableLimit)
|
320
|
+
{
|
321
|
+
//b2Vec2 d = e - r1;
|
322
|
+
var dX = eX - r1X;
|
323
|
+
var dY = eY - r1Y;
|
324
|
+
//float32 jointTranslation = b2Dot(ax1, d);
|
325
|
+
var jointTranslation = ax1X * dX + ax1Y * dY;
|
326
|
+
if (b2Math.b2Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop)
|
327
|
+
{
|
328
|
+
this.m_limitState = b2Joint.e_equalLimits;
|
329
|
+
}
|
330
|
+
else if (jointTranslation <= this.m_lowerTranslation)
|
331
|
+
{
|
332
|
+
if (this.m_limitState != b2Joint.e_atLowerLimit)
|
333
|
+
{
|
334
|
+
this.m_limitImpulse = 0.0;
|
335
|
+
}
|
336
|
+
this.m_limitState = b2Joint.e_atLowerLimit;
|
337
|
+
}
|
338
|
+
else if (jointTranslation >= this.m_upperTranslation)
|
339
|
+
{
|
340
|
+
if (this.m_limitState != b2Joint.e_atUpperLimit)
|
341
|
+
{
|
342
|
+
this.m_limitImpulse = 0.0;
|
343
|
+
}
|
344
|
+
this.m_limitState = b2Joint.e_atUpperLimit;
|
345
|
+
}
|
346
|
+
else
|
347
|
+
{
|
348
|
+
this.m_limitState = b2Joint.e_inactiveLimit;
|
349
|
+
this.m_limitImpulse = 0.0;
|
350
|
+
}
|
351
|
+
}
|
352
|
+
}
|
353
|
+
|
354
|
+
if (this.m_enableMotor == false)
|
355
|
+
{
|
356
|
+
this.m_motorImpulse = 0.0;
|
357
|
+
}
|
358
|
+
|
359
|
+
if (this.m_enableLimit == false)
|
360
|
+
{
|
361
|
+
this.m_limitImpulse = 0.0;
|
362
|
+
}
|
363
|
+
|
364
|
+
if (b2World.s_enableWarmStarting)
|
365
|
+
{
|
366
|
+
//b2Vec2 P1 = this.m_linearImpulse * this.m_linearJacobian.linear1 + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1;
|
367
|
+
var P1X = this.m_linearImpulse * this.m_linearJacobian.linear1.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.x;
|
368
|
+
var P1Y = this.m_linearImpulse * this.m_linearJacobian.linear1.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.y;
|
369
|
+
//b2Vec2 P2 = this.m_linearImpulse * this.m_linearJacobian.linear2 + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2;
|
370
|
+
var P2X = this.m_linearImpulse * this.m_linearJacobian.linear2.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.x;
|
371
|
+
var P2Y = this.m_linearImpulse * this.m_linearJacobian.linear2.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.y;
|
372
|
+
//float32 L1 = this.m_linearImpulse * this.m_linearJacobian.angular1 - this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular1;
|
373
|
+
var L1 = this.m_linearImpulse * this.m_linearJacobian.angular1 - this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular1;
|
374
|
+
//float32 L2 = this.m_linearImpulse * this.m_linearJacobian.angular2 + this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular2;
|
375
|
+
var L2 = this.m_linearImpulse * this.m_linearJacobian.angular2 + this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular2;
|
376
|
+
|
377
|
+
//b1->m_linearVelocity += invMass1 * P1;
|
378
|
+
b1.m_linearVelocity.x += invMass1 * P1X;
|
379
|
+
b1.m_linearVelocity.y += invMass1 * P1Y;
|
380
|
+
//b1->m_angularVelocity += invI1 * L1;
|
381
|
+
b1.m_angularVelocity += invI1 * L1;
|
382
|
+
|
383
|
+
//b2->m_linearVelocity += invMass2 * P2;
|
384
|
+
b2.m_linearVelocity.x += invMass2 * P2X;
|
385
|
+
b2.m_linearVelocity.y += invMass2 * P2Y;
|
386
|
+
//b2->m_angularVelocity += invI2 * L2;
|
387
|
+
b2.m_angularVelocity += invI2 * L2;
|
388
|
+
}
|
389
|
+
else
|
390
|
+
{
|
391
|
+
this.m_linearImpulse = 0.0;
|
392
|
+
this.m_angularImpulse = 0.0;
|
393
|
+
this.m_limitImpulse = 0.0;
|
394
|
+
this.m_motorImpulse = 0.0;
|
395
|
+
}
|
396
|
+
|
397
|
+
this.m_limitPositionImpulse = 0.0;
|
398
|
+
|
399
|
+
},
|
400
|
+
|
401
|
+
SolveVelocityConstraints: function(step){
|
402
|
+
var b1 = this.m_body1;
|
403
|
+
var b2 = this.m_body2;
|
404
|
+
|
405
|
+
var invMass1 = b1.m_invMass;
|
406
|
+
var invMass2 = b2.m_invMass;
|
407
|
+
var invI1 = b1.m_invI;
|
408
|
+
var invI2 = b2.m_invI;
|
409
|
+
|
410
|
+
var oldLimitImpulse;
|
411
|
+
|
412
|
+
// Solve linear constraint.
|
413
|
+
var linearCdot = this.m_linearJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity);
|
414
|
+
var linearImpulse = -this.m_linearMass * linearCdot;
|
415
|
+
this.m_linearImpulse += linearImpulse;
|
416
|
+
|
417
|
+
//b1->m_linearVelocity += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1;
|
418
|
+
b1.m_linearVelocity.x += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.x;
|
419
|
+
b1.m_linearVelocity.y += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.y;
|
420
|
+
//b1->m_angularVelocity += invI1 * linearImpulse * this.m_linearJacobian.angular1;
|
421
|
+
b1.m_angularVelocity += invI1 * linearImpulse * this.m_linearJacobian.angular1;
|
422
|
+
|
423
|
+
//b2->m_linearVelocity += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2;
|
424
|
+
b2.m_linearVelocity.x += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.x;
|
425
|
+
b2.m_linearVelocity.y += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.y;
|
426
|
+
//b2.m_angularVelocity += invI2 * linearImpulse * this.m_linearJacobian.angular2;
|
427
|
+
b2.m_angularVelocity += invI2 * linearImpulse * this.m_linearJacobian.angular2;
|
428
|
+
|
429
|
+
// Solve angular constraint.
|
430
|
+
var angularCdot = b2.m_angularVelocity - b1.m_angularVelocity;
|
431
|
+
var angularImpulse = -this.m_angularMass * angularCdot;
|
432
|
+
this.m_angularImpulse += angularImpulse;
|
433
|
+
|
434
|
+
b1.m_angularVelocity -= invI1 * angularImpulse;
|
435
|
+
b2.m_angularVelocity += invI2 * angularImpulse;
|
436
|
+
|
437
|
+
// Solve linear motor constraint.
|
438
|
+
if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits)
|
439
|
+
{
|
440
|
+
var motorCdot = this.m_motorJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity) - this.m_motorSpeed;
|
441
|
+
var motorImpulse = -this.m_motorMass * motorCdot;
|
442
|
+
var oldMotorImpulse = this.m_motorImpulse;
|
443
|
+
this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + motorImpulse, -step.dt * this.m_maxMotorForce, step.dt * this.m_maxMotorForce);
|
444
|
+
motorImpulse = this.m_motorImpulse - oldMotorImpulse;
|
445
|
+
|
446
|
+
//b1.m_linearVelocity += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1;
|
447
|
+
b1.m_linearVelocity.x += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1.x;
|
448
|
+
b1.m_linearVelocity.y += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1.y;
|
449
|
+
//b1.m_angularVelocity += invI1 * motorImpulse * this.m_motorJacobian.angular1;
|
450
|
+
b1.m_angularVelocity += invI1 * motorImpulse * this.m_motorJacobian.angular1;
|
451
|
+
|
452
|
+
//b2->m_linearVelocity += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2;
|
453
|
+
b2.m_linearVelocity.x += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2.x;
|
454
|
+
b2.m_linearVelocity.y += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2.y;
|
455
|
+
//b2->m_angularVelocity += invI2 * motorImpulse * this.m_motorJacobian.angular2;
|
456
|
+
b2.m_angularVelocity += invI2 * motorImpulse * this.m_motorJacobian.angular2;
|
457
|
+
}
|
458
|
+
|
459
|
+
// Solve linear limit constraint.
|
460
|
+
if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
|
461
|
+
{
|
462
|
+
var limitCdot = this.m_motorJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity);
|
463
|
+
var limitImpulse = -this.m_motorMass * limitCdot;
|
464
|
+
|
465
|
+
if (this.m_limitState == b2Joint.e_equalLimits)
|
466
|
+
{
|
467
|
+
this.m_limitImpulse += limitImpulse;
|
468
|
+
}
|
469
|
+
else if (this.m_limitState == b2Joint.e_atLowerLimit)
|
470
|
+
{
|
471
|
+
oldLimitImpulse = this.m_limitImpulse;
|
472
|
+
this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + limitImpulse, 0.0);
|
473
|
+
limitImpulse = this.m_limitImpulse - oldLimitImpulse;
|
474
|
+
}
|
475
|
+
else if (this.m_limitState == b2Joint.e_atUpperLimit)
|
476
|
+
{
|
477
|
+
oldLimitImpulse = this.m_limitImpulse;
|
478
|
+
this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + limitImpulse, 0.0);
|
479
|
+
limitImpulse = this.m_limitImpulse - oldLimitImpulse;
|
480
|
+
}
|
481
|
+
|
482
|
+
//b1->m_linearVelocity += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1;
|
483
|
+
b1.m_linearVelocity.x += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.x;
|
484
|
+
b1.m_linearVelocity.y += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.y;
|
485
|
+
//b1->m_angularVelocity += invI1 * limitImpulse * this.m_motorJacobian.angular1;
|
486
|
+
b1.m_angularVelocity += invI1 * limitImpulse * this.m_motorJacobian.angular1;
|
487
|
+
|
488
|
+
//b2->m_linearVelocity += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2;
|
489
|
+
b2.m_linearVelocity.x += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.x;
|
490
|
+
b2.m_linearVelocity.y += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.y;
|
491
|
+
//b2->m_angularVelocity += invI2 * limitImpulse * this.m_motorJacobian.angular2;
|
492
|
+
b2.m_angularVelocity += invI2 * limitImpulse * this.m_motorJacobian.angular2;
|
493
|
+
}
|
494
|
+
},
|
495
|
+
|
496
|
+
|
497
|
+
|
498
|
+
SolvePositionConstraints: function(){
|
499
|
+
|
500
|
+
var limitC;
|
501
|
+
var oldLimitImpulse;
|
502
|
+
|
503
|
+
var b1 = this.m_body1;
|
504
|
+
var b2 = this.m_body2;
|
505
|
+
|
506
|
+
var invMass1 = b1.m_invMass;
|
507
|
+
var invMass2 = b2.m_invMass;
|
508
|
+
var invI1 = b1.m_invI;
|
509
|
+
var invI2 = b2.m_invI;
|
510
|
+
|
511
|
+
var tMat;
|
512
|
+
|
513
|
+
//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
|
514
|
+
tMat = b1.m_R;
|
515
|
+
var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
|
516
|
+
var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
|
517
|
+
//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
|
518
|
+
tMat = b2.m_R;
|
519
|
+
var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
|
520
|
+
var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
|
521
|
+
//b2Vec2 p1 = b1->m_position + r1;
|
522
|
+
var p1X = b1.m_position.x + r1X;
|
523
|
+
var p1Y = b1.m_position.y + r1Y;
|
524
|
+
//b2Vec2 p2 = b2->m_position + r2;
|
525
|
+
var p2X = b2.m_position.x + r2X;
|
526
|
+
var p2Y = b2.m_position.y + r2Y;
|
527
|
+
//b2Vec2 d = p2 - p1;
|
528
|
+
var dX = p2X - p1X;
|
529
|
+
var dY = p2Y - p1Y;
|
530
|
+
//b2Vec2 ay1 = b2Mul(b1->m_R, this.m_localYAxis1);
|
531
|
+
tMat = b1.m_R;
|
532
|
+
var ay1X = tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y;
|
533
|
+
var ay1Y = tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y;
|
534
|
+
|
535
|
+
// Solve linear (point-to-line) constraint.
|
536
|
+
//float32 linearC = b2Dot(ay1, d);
|
537
|
+
var linearC = ay1X*dX + ay1Y*dY;
|
538
|
+
// Prevent overly large corrections.
|
539
|
+
linearC = b2Math.b2Clamp(linearC, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
|
540
|
+
var linearImpulse = -this.m_linearMass * linearC;
|
541
|
+
|
542
|
+
//b1->m_position += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1;
|
543
|
+
b1.m_position.x += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.x;
|
544
|
+
b1.m_position.y += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.y;
|
545
|
+
//b1->m_rotation += invI1 * linearImpulse * this.m_linearJacobian.angular1;
|
546
|
+
b1.m_rotation += invI1 * linearImpulse * this.m_linearJacobian.angular1;
|
547
|
+
//b1->m_R.Set(b1->m_rotation);
|
548
|
+
//b2->m_position += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2;
|
549
|
+
b2.m_position.x += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.x;
|
550
|
+
b2.m_position.y += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.y;
|
551
|
+
b2.m_rotation += invI2 * linearImpulse * this.m_linearJacobian.angular2;
|
552
|
+
//b2->m_R.Set(b2->m_rotation);
|
553
|
+
|
554
|
+
var positionError = b2Math.b2Abs(linearC);
|
555
|
+
|
556
|
+
// Solve angular constraint.
|
557
|
+
var angularC = b2.m_rotation - b1.m_rotation - this.m_initialAngle;
|
558
|
+
// Prevent overly large corrections.
|
559
|
+
angularC = b2Math.b2Clamp(angularC, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection);
|
560
|
+
var angularImpulse = -this.m_angularMass * angularC;
|
561
|
+
|
562
|
+
b1.m_rotation -= b1.m_invI * angularImpulse;
|
563
|
+
b1.m_R.Set(b1.m_rotation);
|
564
|
+
b2.m_rotation += b2.m_invI * angularImpulse;
|
565
|
+
b2.m_R.Set(b2.m_rotation);
|
566
|
+
|
567
|
+
var angularError = b2Math.b2Abs(angularC);
|
568
|
+
|
569
|
+
// Solve linear limit constraint.
|
570
|
+
if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
|
571
|
+
{
|
572
|
+
|
573
|
+
//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
|
574
|
+
tMat = b1.m_R;
|
575
|
+
r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
|
576
|
+
r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
|
577
|
+
//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
|
578
|
+
tMat = b2.m_R;
|
579
|
+
r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
|
580
|
+
r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
|
581
|
+
//b2Vec2 p1 = b1->m_position + r1;
|
582
|
+
p1X = b1.m_position.x + r1X;
|
583
|
+
p1Y = b1.m_position.y + r1Y;
|
584
|
+
//b2Vec2 p2 = b2->m_position + r2;
|
585
|
+
p2X = b2.m_position.x + r2X;
|
586
|
+
p2Y = b2.m_position.y + r2Y;
|
587
|
+
//b2Vec2 d = p2 - p1;
|
588
|
+
dX = p2X - p1X;
|
589
|
+
dY = p2Y - p1Y;
|
590
|
+
//b2Vec2 ax1 = b2Mul(b1->m_R, this.m_localXAxis1);
|
591
|
+
tMat = b1.m_R;
|
592
|
+
var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
|
593
|
+
var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
|
594
|
+
|
595
|
+
//float32 translation = b2Dot(ax1, d);
|
596
|
+
var translation = (ax1X*dX + ax1Y*dY);
|
597
|
+
var limitImpulse = 0.0;
|
598
|
+
|
599
|
+
if (this.m_limitState == b2Joint.e_equalLimits)
|
600
|
+
{
|
601
|
+
// Prevent large angular corrections
|
602
|
+
limitC = b2Math.b2Clamp(translation, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
|
603
|
+
limitImpulse = -this.m_motorMass * limitC;
|
604
|
+
positionError = b2Math.b2Max(positionError, b2Math.b2Abs(angularC));
|
605
|
+
}
|
606
|
+
else if (this.m_limitState == b2Joint.e_atLowerLimit)
|
607
|
+
{
|
608
|
+
limitC = translation - this.m_lowerTranslation;
|
609
|
+
positionError = b2Math.b2Max(positionError, -limitC);
|
610
|
+
|
611
|
+
// Prevent large linear corrections and allow some slop.
|
612
|
+
limitC = b2Math.b2Clamp(limitC + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
|
613
|
+
limitImpulse = -this.m_motorMass * limitC;
|
614
|
+
oldLimitImpulse = this.m_limitPositionImpulse;
|
615
|
+
this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + limitImpulse, 0.0);
|
616
|
+
limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
|
617
|
+
}
|
618
|
+
else if (this.m_limitState == b2Joint.e_atUpperLimit)
|
619
|
+
{
|
620
|
+
limitC = translation - this.m_upperTranslation;
|
621
|
+
positionError = b2Math.b2Max(positionError, limitC);
|
622
|
+
|
623
|
+
// Prevent large linear corrections and allow some slop.
|
624
|
+
limitC = b2Math.b2Clamp(limitC - b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection);
|
625
|
+
limitImpulse = -this.m_motorMass * limitC;
|
626
|
+
oldLimitImpulse = this.m_limitPositionImpulse;
|
627
|
+
this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + limitImpulse, 0.0);
|
628
|
+
limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
|
629
|
+
}
|
630
|
+
|
631
|
+
//b1->m_position += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1;
|
632
|
+
b1.m_position.x += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.x;
|
633
|
+
b1.m_position.y += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.y;
|
634
|
+
//b1->m_rotation += invI1 * limitImpulse * this.m_motorJacobian.angular1;
|
635
|
+
b1.m_rotation += invI1 * limitImpulse * this.m_motorJacobian.angular1;
|
636
|
+
b1.m_R.Set(b1.m_rotation);
|
637
|
+
//b2->m_position += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2;
|
638
|
+
b2.m_position.x += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.x;
|
639
|
+
b2.m_position.y += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.y;
|
640
|
+
//b2->m_rotation += invI2 * limitImpulse * this.m_motorJacobian.angular2;
|
641
|
+
b2.m_rotation += invI2 * limitImpulse * this.m_motorJacobian.angular2;
|
642
|
+
b2.m_R.Set(b2.m_rotation);
|
643
|
+
}
|
644
|
+
|
645
|
+
return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
|
646
|
+
|
647
|
+
},
|
648
|
+
|
649
|
+
m_localAnchor1: new b2Vec2(),
|
650
|
+
m_localAnchor2: new b2Vec2(),
|
651
|
+
m_localXAxis1: new b2Vec2(),
|
652
|
+
m_localYAxis1: new b2Vec2(),
|
653
|
+
m_initialAngle: null,
|
654
|
+
|
655
|
+
m_linearJacobian: new b2Jacobian(),
|
656
|
+
m_linearMass: null,
|
657
|
+
m_linearImpulse: null,
|
658
|
+
|
659
|
+
m_angularMass: null,
|
660
|
+
m_angularImpulse: null,
|
661
|
+
|
662
|
+
m_motorJacobian: new b2Jacobian(),
|
663
|
+
m_motorMass: null,
|
664
|
+
m_motorImpulse: null,
|
665
|
+
m_limitImpulse: null,
|
666
|
+
m_limitPositionImpulse: null,
|
667
|
+
|
668
|
+
m_lowerTranslation: null,
|
669
|
+
m_upperTranslation: null,
|
670
|
+
m_maxMotorForce: null,
|
671
|
+
m_motorSpeed: null,
|
672
|
+
|
673
|
+
m_enableLimit: null,
|
674
|
+
m_enableMotor: null,
|
675
|
+
m_limitState: 0});
|
676
|
+
|