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 b2BufferedPair = Class.create();
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b2BufferedPair.prototype = {
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proxyId1: 0,
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proxyId2: 0,
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initialize: function() {}}
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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 b2Collision = Class.create();
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b2Collision.prototype = {
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// Null feature
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// Find the separation between poly1 and poly2 for a give edge normal on poly1.
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// Find the max separation between poly1 and poly2 using edge normals
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// from poly1.
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// Find edge normal of max separation on A - return if separating axis is found
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// Find edge normal of max separation on B - return if separation axis is found
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// Choose reference edge(minA, minB)
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// Find incident edge
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// Clip
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// The normal points from 1 to 2
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initialize: function() {}}
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b2Collision.b2_nullFeature = 0x000000ff;
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b2Collision.ClipSegmentToLine = function(vOut, vIn, normal, offset)
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{
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// Start with no output points
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var numOut = 0;
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var vIn0 = vIn[0].v;
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var vIn1 = vIn[1].v;
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// Calculate the distance of end points to the line
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var distance0 = b2Math.b2Dot(normal, vIn[0].v) - offset;
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var distance1 = b2Math.b2Dot(normal, vIn[1].v) - offset;
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// If the points are behind the plane
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if (distance0 <= 0.0) vOut[numOut++] = vIn[0];
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if (distance1 <= 0.0) vOut[numOut++] = vIn[1];
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// If the points are on different sides of the plane
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if (distance0 * distance1 < 0.0)
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{
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// Find intersection point of edge and plane
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var interp = distance0 / (distance0 - distance1);
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// expanded for performance
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var tVec = vOut[numOut].v;
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tVec.x = vIn0.x + interp * (vIn1.x - vIn0.x);
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tVec.y = vIn0.y + interp * (vIn1.y - vIn0.y);
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if (distance0 > 0.0)
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{
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vOut[numOut].id = vIn[0].id;
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}
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else
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{
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vOut[numOut].id = vIn[1].id;
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}
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++numOut;
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}
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return numOut;
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};
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b2Collision.EdgeSeparation = function(poly1, edge1, poly2)
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{
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var vert1s = poly1.m_vertices;
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var count2 = poly2.m_vertexCount;
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var vert2s = poly2.m_vertices;
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// Convert normal from into poly2's frame.
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//b2Settings.b2Assert(edge1 < poly1.m_vertexCount);
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//var normal = b2Math.b2MulMV(poly1.m_R, poly1->m_normals[edge1]);
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var normalX = poly1.m_normals[edge1].x;
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var normalY = poly1.m_normals[edge1].y;
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var tX = normalX;
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var tMat = poly1.m_R;
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normalX = tMat.col1.x * tX + tMat.col2.x * normalY;
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normalY = tMat.col1.y * tX + tMat.col2.y * normalY;
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// ^^^^^^^ normal.MulM(poly1.m_R);
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//var normalLocal2 = b2Math.b2MulTMV(poly2.m_R, normal);
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var normalLocal2X = normalX;
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var normalLocal2Y = normalY;
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tMat = poly2.m_R;
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tX = normalLocal2X * tMat.col1.x + normalLocal2Y * tMat.col1.y;
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normalLocal2Y = normalLocal2X * tMat.col2.x + normalLocal2Y * tMat.col2.y;
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normalLocal2X = tX;
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// ^^^^^ normalLocal2.MulTM(poly2.m_R);
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// Find support vertex on poly2 for -normal.
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var vertexIndex2 = 0;
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var minDot = Number.MAX_VALUE;
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for (var i = 0; i < count2; ++i)
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{
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//var dot = b2Math.b2Dot(vert2s[i], normalLocal2);
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var tVec = vert2s[i];
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var dot = tVec.x * normalLocal2X + tVec.y * normalLocal2Y;
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if (dot < minDot)
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{
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minDot = dot;
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vertexIndex2 = i;
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}
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}
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//b2Vec2 v1 = poly1->m_position + b2Mul(poly1->m_R, vert1s[edge1]);
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tMat = poly1.m_R;
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var v1X = poly1.m_position.x + (tMat.col1.x * vert1s[edge1].x + tMat.col2.x * vert1s[edge1].y)
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var v1Y = poly1.m_position.y + (tMat.col1.y * vert1s[edge1].x + tMat.col2.y * vert1s[edge1].y)
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//b2Vec2 v2 = poly2->m_position + b2Mul(poly2->m_R, vert2s[vertexIndex2]);
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tMat = poly2.m_R;
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var v2X = poly2.m_position.x + (tMat.col1.x * vert2s[vertexIndex2].x + tMat.col2.x * vert2s[vertexIndex2].y)
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var v2Y = poly2.m_position.y + (tMat.col1.y * vert2s[vertexIndex2].x + tMat.col2.y * vert2s[vertexIndex2].y)
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//var separation = b2Math.b2Dot( b2Math.SubtractVV( v2, v1 ) , normal);
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v2X -= v1X;
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v2Y -= v1Y;
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//var separation = b2Math.b2Dot( v2 , normal);
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var separation = v2X * normalX + v2Y * normalY;
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return separation;
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};
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b2Collision.FindMaxSeparation = function(edgeIndex /*int ptr*/, poly1, poly2, conservative)
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{
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var count1 = poly1.m_vertexCount;
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// Vector pointing from the origin of poly1 to the origin of poly2.
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//var d = b2Math.SubtractVV( poly2.m_position, poly1.m_position );
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var dX = poly2.m_position.x - poly1.m_position.x;
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var dY = poly2.m_position.y - poly1.m_position.y;
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//var dLocal1 = b2Math.b2MulTMV(poly1.m_R, d);
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var dLocal1X = (dX * poly1.m_R.col1.x + dY * poly1.m_R.col1.y);
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var dLocal1Y = (dX * poly1.m_R.col2.x + dY * poly1.m_R.col2.y);
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// Get support vertex hint for our search
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var edge = 0;
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var maxDot = -Number.MAX_VALUE;
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for (var i = 0; i < count1; ++i)
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{
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//var dot = b2Math.b2Dot(poly.m_normals[i], dLocal1);
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var dot = (poly1.m_normals[i].x * dLocal1X + poly1.m_normals[i].y * dLocal1Y);
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if (dot > maxDot)
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{
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maxDot = dot;
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edge = i;
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}
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}
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// Get the separation for the edge normal.
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var s = b2Collision.EdgeSeparation(poly1, edge, poly2);
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if (s > 0.0 && conservative == false)
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{
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return s;
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}
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// Check the separation for the neighboring edges.
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var prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
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var sPrev = b2Collision.EdgeSeparation(poly1, prevEdge, poly2);
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if (sPrev > 0.0 && conservative == false)
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{
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return sPrev;
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}
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var nextEdge = edge + 1 < count1 ? edge + 1 : 0;
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var sNext = b2Collision.EdgeSeparation(poly1, nextEdge, poly2);
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if (sNext > 0.0 && conservative == false)
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{
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return sNext;
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}
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// Find the best edge and the search direction.
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var bestEdge = 0;
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var bestSeparation;
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var increment = 0;
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if (sPrev > s && sPrev > sNext)
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{
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increment = -1;
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bestEdge = prevEdge;
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bestSeparation = sPrev;
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}
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else if (sNext > s)
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{
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increment = 1;
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bestEdge = nextEdge;
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bestSeparation = sNext;
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}
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else
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{
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// pointer out
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edgeIndex[0] = edge;
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return s;
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}
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while (true)
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{
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if (increment == -1)
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edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
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else
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edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
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243
|
+
|
244
|
+
s = b2Collision.EdgeSeparation(poly1, edge, poly2);
|
245
|
+
if (s > 0.0 && conservative == false)
|
246
|
+
{
|
247
|
+
return s;
|
248
|
+
}
|
249
|
+
|
250
|
+
if (s > bestSeparation)
|
251
|
+
{
|
252
|
+
bestEdge = edge;
|
253
|
+
bestSeparation = s;
|
254
|
+
}
|
255
|
+
else
|
256
|
+
{
|
257
|
+
break;
|
258
|
+
}
|
259
|
+
}
|
260
|
+
|
261
|
+
// pointer out
|
262
|
+
edgeIndex[0] = bestEdge;
|
263
|
+
return bestSeparation;
|
264
|
+
};
|
265
|
+
b2Collision.FindIncidentEdge = function(c, poly1, edge1, poly2)
|
266
|
+
{
|
267
|
+
var count1 = poly1.m_vertexCount;
|
268
|
+
var vert1s = poly1.m_vertices;
|
269
|
+
var count2 = poly2.m_vertexCount;
|
270
|
+
var vert2s = poly2.m_vertices;
|
271
|
+
|
272
|
+
// Get the vertices associated with edge1.
|
273
|
+
var vertex11 = edge1;
|
274
|
+
var vertex12 = edge1 + 1 == count1 ? 0 : edge1 + 1;
|
275
|
+
|
276
|
+
// Get the normal of edge1.
|
277
|
+
var tVec = vert1s[vertex12];
|
278
|
+
//var normal1Local1 = b2Math.b2CrossVF( b2Math.SubtractVV( vert1s[vertex12], vert1s[vertex11] ), 1.0);
|
279
|
+
var normal1Local1X = tVec.x;
|
280
|
+
var normal1Local1Y = tVec.y;
|
281
|
+
tVec = vert1s[vertex11];
|
282
|
+
normal1Local1X -= tVec.x;
|
283
|
+
normal1Local1Y -= tVec.y;
|
284
|
+
var tX = normal1Local1X;
|
285
|
+
normal1Local1X = normal1Local1Y;
|
286
|
+
normal1Local1Y = -tX;
|
287
|
+
// ^^^^ normal1Local1.CrossVF(1.0);
|
288
|
+
|
289
|
+
var invLength = 1.0 / Math.sqrt(normal1Local1X*normal1Local1X + normal1Local1Y*normal1Local1Y);
|
290
|
+
normal1Local1X *= invLength;
|
291
|
+
normal1Local1Y *= invLength;
|
292
|
+
// ^^^^normal1Local1.Normalize();
|
293
|
+
//var normal1 = b2Math.b2MulMV(poly1.m_R, normal1Local1);
|
294
|
+
var normal1X = normal1Local1X;
|
295
|
+
var normal1Y = normal1Local1Y;
|
296
|
+
|
297
|
+
tX = normal1X;
|
298
|
+
var tMat = poly1.m_R;
|
299
|
+
normal1X = tMat.col1.x * tX + tMat.col2.x * normal1Y;
|
300
|
+
normal1Y = tMat.col1.y * tX + tMat.col2.y * normal1Y;
|
301
|
+
// ^^^^ normal1.MulM(poly1.m_R);
|
302
|
+
|
303
|
+
//var normal1Local2 = b2Math.b2MulTMV(poly2.m_R, normal1);
|
304
|
+
var normal1Local2X = normal1X;
|
305
|
+
var normal1Local2Y = normal1Y;
|
306
|
+
tMat = poly2.m_R;
|
307
|
+
tX = normal1Local2X * tMat.col1.x + normal1Local2Y * tMat.col1.y;
|
308
|
+
normal1Local2Y = normal1Local2X * tMat.col2.x + normal1Local2Y * tMat.col2.y;
|
309
|
+
normal1Local2X = tX;
|
310
|
+
// ^^^^ normal1Local2.MulTM(poly2.m_R);
|
311
|
+
|
312
|
+
// Find the incident edge on poly2.
|
313
|
+
var vertex21 = 0;
|
314
|
+
var vertex22 = 0;
|
315
|
+
var minDot = Number.MAX_VALUE;
|
316
|
+
for (var i = 0; i < count2; ++i)
|
317
|
+
{
|
318
|
+
var i1 = i;
|
319
|
+
var i2 = i + 1 < count2 ? i + 1 : 0;
|
320
|
+
|
321
|
+
//var normal2Local2 = b2Math.b2CrossVF( b2Math.SubtractVV( vert2s[i2], vert2s[i1] ), 1.0);
|
322
|
+
tVec = vert2s[i2];
|
323
|
+
var normal2Local2X = tVec.x;
|
324
|
+
var normal2Local2Y = tVec.y;
|
325
|
+
tVec = vert2s[i1];
|
326
|
+
normal2Local2X -= tVec.x;
|
327
|
+
normal2Local2Y -= tVec.y;
|
328
|
+
tX = normal2Local2X;
|
329
|
+
normal2Local2X = normal2Local2Y;
|
330
|
+
normal2Local2Y = -tX;
|
331
|
+
// ^^^^ normal2Local2.CrossVF(1.0);
|
332
|
+
|
333
|
+
invLength = 1.0 / Math.sqrt(normal2Local2X*normal2Local2X + normal2Local2Y*normal2Local2Y);
|
334
|
+
normal2Local2X *= invLength;
|
335
|
+
normal2Local2Y *= invLength;
|
336
|
+
// ^^^^ normal2Local2.Normalize();
|
337
|
+
|
338
|
+
//var dot = b2Math.b2Dot(normal2Local2, normal1Local2);
|
339
|
+
var dot = normal2Local2X * normal1Local2X + normal2Local2Y * normal1Local2Y;
|
340
|
+
if (dot < minDot)
|
341
|
+
{
|
342
|
+
minDot = dot;
|
343
|
+
vertex21 = i1;
|
344
|
+
vertex22 = i2;
|
345
|
+
}
|
346
|
+
}
|
347
|
+
|
348
|
+
var tClip;
|
349
|
+
// Build the clip vertices for the incident edge.
|
350
|
+
tClip = c[0];
|
351
|
+
//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex21]));
|
352
|
+
tVec = tClip.v;
|
353
|
+
tVec.SetV(vert2s[vertex21]);
|
354
|
+
tVec.MulM(poly2.m_R);
|
355
|
+
tVec.Add(poly2.m_position);
|
356
|
+
|
357
|
+
tClip.id.features.referenceFace = edge1;
|
358
|
+
tClip.id.features.incidentEdge = vertex21;
|
359
|
+
tClip.id.features.incidentVertex = vertex21;
|
360
|
+
|
361
|
+
tClip = c[1];
|
362
|
+
//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex22]));
|
363
|
+
tVec = tClip.v;
|
364
|
+
tVec.SetV(vert2s[vertex22]);
|
365
|
+
tVec.MulM(poly2.m_R);
|
366
|
+
tVec.Add(poly2.m_position);
|
367
|
+
tClip.id.features.referenceFace = edge1;
|
368
|
+
tClip.id.features.incidentEdge = vertex21;
|
369
|
+
tClip.id.features.incidentVertex = vertex22;
|
370
|
+
};
|
371
|
+
b2Collision.b2CollidePolyTempVec = new b2Vec2();
|
372
|
+
b2Collision.b2CollidePoly = function(manifold, polyA, polyB, conservative)
|
373
|
+
{
|
374
|
+
manifold.pointCount = 0;
|
375
|
+
|
376
|
+
var edgeA = 0;
|
377
|
+
var edgeAOut = [edgeA];
|
378
|
+
var separationA = b2Collision.FindMaxSeparation(edgeAOut, polyA, polyB, conservative);
|
379
|
+
edgeA = edgeAOut[0];
|
380
|
+
if (separationA > 0.0 && conservative == false)
|
381
|
+
return;
|
382
|
+
|
383
|
+
var edgeB = 0;
|
384
|
+
var edgeBOut = [edgeB];
|
385
|
+
var separationB = b2Collision.FindMaxSeparation(edgeBOut, polyB, polyA, conservative);
|
386
|
+
edgeB = edgeBOut[0];
|
387
|
+
if (separationB > 0.0 && conservative == false)
|
388
|
+
return;
|
389
|
+
|
390
|
+
var poly1;
|
391
|
+
var poly2;
|
392
|
+
var edge1 = 0;
|
393
|
+
var flip = 0;
|
394
|
+
var k_relativeTol = 0.98;
|
395
|
+
var k_absoluteTol = 0.001;
|
396
|
+
|
397
|
+
// TODO_ERIN use "radius" of poly for absolute tolerance.
|
398
|
+
if (separationB > k_relativeTol * separationA + k_absoluteTol)
|
399
|
+
{
|
400
|
+
poly1 = polyB;
|
401
|
+
poly2 = polyA;
|
402
|
+
edge1 = edgeB;
|
403
|
+
flip = 1;
|
404
|
+
}
|
405
|
+
else
|
406
|
+
{
|
407
|
+
poly1 = polyA;
|
408
|
+
poly2 = polyB;
|
409
|
+
edge1 = edgeA;
|
410
|
+
flip = 0;
|
411
|
+
}
|
412
|
+
|
413
|
+
var incidentEdge = [new ClipVertex(), new ClipVertex()];
|
414
|
+
b2Collision.FindIncidentEdge(incidentEdge, poly1, edge1, poly2);
|
415
|
+
|
416
|
+
var count1 = poly1.m_vertexCount;
|
417
|
+
var vert1s = poly1.m_vertices;
|
418
|
+
|
419
|
+
var v11 = vert1s[edge1];
|
420
|
+
var v12 = edge1 + 1 < count1 ? vert1s[edge1+1] : vert1s[0];
|
421
|
+
|
422
|
+
//var dv = b2Math.SubtractVV(v12, v11);
|
423
|
+
var dvX = v12.x - v11.x;
|
424
|
+
var dvY = v12.y - v11.y;
|
425
|
+
|
426
|
+
//var sideNormal = b2Math.b2MulMV(poly1.m_R, b2Math.SubtractVV(v12, v11));
|
427
|
+
var sideNormalX = v12.x - v11.x;
|
428
|
+
var sideNormalY = v12.y - v11.y;
|
429
|
+
|
430
|
+
var tX = sideNormalX;
|
431
|
+
var tMat = poly1.m_R;
|
432
|
+
sideNormalX = tMat.col1.x * tX + tMat.col2.x * sideNormalY;
|
433
|
+
sideNormalY = tMat.col1.y * tX + tMat.col2.y * sideNormalY;
|
434
|
+
// ^^^^ sideNormal.MulM(poly1.m_R);
|
435
|
+
|
436
|
+
var invLength = 1.0 / Math.sqrt(sideNormalX*sideNormalX + sideNormalY*sideNormalY);
|
437
|
+
sideNormalX *= invLength;
|
438
|
+
sideNormalY *= invLength;
|
439
|
+
// ^^^^ sideNormal.Normalize();
|
440
|
+
|
441
|
+
//var frontNormal = b2Math.b2CrossVF(sideNormal, 1.0);
|
442
|
+
var frontNormalX = sideNormalX;
|
443
|
+
var frontNormalY = sideNormalY;
|
444
|
+
tX = frontNormalX;
|
445
|
+
frontNormalX = frontNormalY;
|
446
|
+
frontNormalY = -tX;
|
447
|
+
// ^^^^ frontNormal.CrossVF(1.0);
|
448
|
+
|
449
|
+
// Expanded for performance
|
450
|
+
//v11 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v11));
|
451
|
+
var v11X = v11.x;
|
452
|
+
var v11Y = v11.y;
|
453
|
+
tX = v11X;
|
454
|
+
tMat = poly1.m_R;
|
455
|
+
v11X = tMat.col1.x * tX + tMat.col2.x * v11Y;
|
456
|
+
v11Y = tMat.col1.y * tX + tMat.col2.y * v11Y;
|
457
|
+
// ^^^^ v11.MulM(poly1.m_R);
|
458
|
+
v11X += poly1.m_position.x;
|
459
|
+
v11Y += poly1.m_position.y;
|
460
|
+
//v12 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v12));
|
461
|
+
var v12X = v12.x;
|
462
|
+
var v12Y = v12.y;
|
463
|
+
tX = v12X;
|
464
|
+
tMat = poly1.m_R;
|
465
|
+
v12X = tMat.col1.x * tX + tMat.col2.x * v12Y;
|
466
|
+
v12Y = tMat.col1.y * tX + tMat.col2.y * v12Y;
|
467
|
+
// ^^^^ v12.MulM(poly1.m_R);
|
468
|
+
v12X += poly1.m_position.x;
|
469
|
+
v12Y += poly1.m_position.y;
|
470
|
+
|
471
|
+
//var frontOffset = b2Math.b2Dot(frontNormal, v11);
|
472
|
+
var frontOffset = frontNormalX * v11X + frontNormalY * v11Y;
|
473
|
+
//var sideOffset1 = -b2Math.b2Dot(sideNormal, v11);
|
474
|
+
var sideOffset1 = -(sideNormalX * v11X + sideNormalY * v11Y);
|
475
|
+
//var sideOffset2 = b2Math.b2Dot(sideNormal, v12);
|
476
|
+
var sideOffset2 = sideNormalX * v12X + sideNormalY * v12Y;
|
477
|
+
|
478
|
+
// Clip incident edge against extruded edge1 side edges.
|
479
|
+
var clipPoints1 = [new ClipVertex(), new ClipVertex()];
|
480
|
+
var clipPoints2 = [new ClipVertex(), new ClipVertex()];
|
481
|
+
|
482
|
+
var np = 0;
|
483
|
+
|
484
|
+
// Clip to box side 1
|
485
|
+
b2Collision.b2CollidePolyTempVec.Set(-sideNormalX, -sideNormalY);
|
486
|
+
np = b2Collision.ClipSegmentToLine(clipPoints1, incidentEdge, b2Collision.b2CollidePolyTempVec, sideOffset1);
|
487
|
+
|
488
|
+
if (np < 2)
|
489
|
+
return;
|
490
|
+
|
491
|
+
// Clip to negative box side 1
|
492
|
+
b2Collision.b2CollidePolyTempVec.Set(sideNormalX, sideNormalY);
|
493
|
+
np = b2Collision.ClipSegmentToLine(clipPoints2, clipPoints1, b2Collision.b2CollidePolyTempVec, sideOffset2);
|
494
|
+
|
495
|
+
if (np < 2)
|
496
|
+
return;
|
497
|
+
|
498
|
+
// Now clipPoints2 contains the clipped points.
|
499
|
+
if (flip){
|
500
|
+
manifold.normal.Set(-frontNormalX, -frontNormalY);
|
501
|
+
}
|
502
|
+
else{
|
503
|
+
manifold.normal.Set(frontNormalX, frontNormalY);
|
504
|
+
}
|
505
|
+
// ^^^^ manifold.normal = flip ? frontNormal.Negative() : frontNormal;
|
506
|
+
|
507
|
+
var pointCount = 0;
|
508
|
+
for (var i = 0; i < b2Settings.b2_maxManifoldPoints; ++i)
|
509
|
+
{
|
510
|
+
//var separation = b2Math.b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
|
511
|
+
var tVec = clipPoints2[i].v;
|
512
|
+
var separation = (frontNormalX * tVec.x + frontNormalY * tVec.y) - frontOffset;
|
513
|
+
|
514
|
+
if (separation <= 0.0 || conservative == true)
|
515
|
+
{
|
516
|
+
var cp = manifold.points[ pointCount ];
|
517
|
+
cp.separation = separation;
|
518
|
+
cp.position.SetV( clipPoints2[i].v );
|
519
|
+
cp.id.Set( clipPoints2[i].id );
|
520
|
+
cp.id.features.flip = flip;
|
521
|
+
++pointCount;
|
522
|
+
}
|
523
|
+
}
|
524
|
+
|
525
|
+
manifold.pointCount = pointCount;
|
526
|
+
};
|
527
|
+
b2Collision.b2CollideCircle = function(manifold, circle1, circle2, conservative)
|
528
|
+
{
|
529
|
+
manifold.pointCount = 0;
|
530
|
+
|
531
|
+
//var d = b2Math.SubtractVV(circle2.m_position, circle1.m_position);
|
532
|
+
var dX = circle2.m_position.x - circle1.m_position.x;
|
533
|
+
var dY = circle2.m_position.y - circle1.m_position.y;
|
534
|
+
//var distSqr = b2Math.b2Dot(d, d);
|
535
|
+
var distSqr = dX * dX + dY * dY;
|
536
|
+
var radiusSum = circle1.m_radius + circle2.m_radius;
|
537
|
+
if (distSqr > radiusSum * radiusSum && conservative == false)
|
538
|
+
{
|
539
|
+
return;
|
540
|
+
}
|
541
|
+
|
542
|
+
var separation;
|
543
|
+
if (distSqr < Number.MIN_VALUE)
|
544
|
+
{
|
545
|
+
separation = -radiusSum;
|
546
|
+
manifold.normal.Set(0.0, 1.0);
|
547
|
+
}
|
548
|
+
else
|
549
|
+
{
|
550
|
+
var dist = Math.sqrt(distSqr);
|
551
|
+
separation = dist - radiusSum;
|
552
|
+
var a = 1.0 / dist;
|
553
|
+
manifold.normal.x = a * dX;
|
554
|
+
manifold.normal.y = a * dY;
|
555
|
+
}
|
556
|
+
|
557
|
+
manifold.pointCount = 1;
|
558
|
+
var tPoint = manifold.points[0];
|
559
|
+
tPoint.id.set_key(0);
|
560
|
+
tPoint.separation = separation;
|
561
|
+
//tPoint.position = b2Math.SubtractVV(circle2.m_position, b2Math.MulFV(circle2.m_radius, manifold.normal));
|
562
|
+
tPoint.position.x = circle2.m_position.x - (circle2.m_radius * manifold.normal.x);
|
563
|
+
tPoint.position.y = circle2.m_position.y - (circle2.m_radius * manifold.normal.y);
|
564
|
+
};
|
565
|
+
b2Collision.b2CollidePolyAndCircle = function(manifold, poly, circle, conservative)
|
566
|
+
{
|
567
|
+
manifold.pointCount = 0;
|
568
|
+
var tPoint;
|
569
|
+
|
570
|
+
var dX;
|
571
|
+
var dY;
|
572
|
+
|
573
|
+
// Compute circle position in the frame of the polygon.
|
574
|
+
//var xLocal = b2Math.b2MulTMV(poly.m_R, b2Math.SubtractVV(circle.m_position, poly.m_position));
|
575
|
+
var xLocalX = circle.m_position.x - poly.m_position.x;
|
576
|
+
var xLocalY = circle.m_position.y - poly.m_position.y;
|
577
|
+
var tMat = poly.m_R;
|
578
|
+
var tX = xLocalX * tMat.col1.x + xLocalY * tMat.col1.y;
|
579
|
+
xLocalY = xLocalX * tMat.col2.x + xLocalY * tMat.col2.y;
|
580
|
+
xLocalX = tX;
|
581
|
+
|
582
|
+
var dist;
|
583
|
+
|
584
|
+
// Find the min separating edge.
|
585
|
+
var normalIndex = 0;
|
586
|
+
var separation = -Number.MAX_VALUE;
|
587
|
+
var radius = circle.m_radius;
|
588
|
+
for (var i = 0; i < poly.m_vertexCount; ++i)
|
589
|
+
{
|
590
|
+
//var s = b2Math.b2Dot(poly.m_normals[i], b2Math.SubtractVV(xLocal, poly.m_vertices[i]));
|
591
|
+
var s = poly.m_normals[i].x * (xLocalX-poly.m_vertices[i].x) + poly.m_normals[i].y * (xLocalY-poly.m_vertices[i].y);
|
592
|
+
if (s > radius)
|
593
|
+
{
|
594
|
+
// Early out.
|
595
|
+
return;
|
596
|
+
}
|
597
|
+
|
598
|
+
if (s > separation)
|
599
|
+
{
|
600
|
+
separation = s;
|
601
|
+
normalIndex = i;
|
602
|
+
}
|
603
|
+
}
|
604
|
+
|
605
|
+
// If the center is inside the polygon ...
|
606
|
+
if (separation < Number.MIN_VALUE)
|
607
|
+
{
|
608
|
+
manifold.pointCount = 1;
|
609
|
+
//manifold.normal = b2Math.b2MulMV(poly.m_R, poly.m_normals[normalIndex]);
|
610
|
+
var tVec = poly.m_normals[normalIndex];
|
611
|
+
manifold.normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
|
612
|
+
manifold.normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
|
613
|
+
|
614
|
+
tPoint = manifold.points[0];
|
615
|
+
tPoint.id.features.incidentEdge = normalIndex;
|
616
|
+
tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
|
617
|
+
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
618
|
+
tPoint.id.features.flip = 0;
|
619
|
+
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
620
|
+
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
621
|
+
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
622
|
+
tPoint.separation = separation - radius;
|
623
|
+
return;
|
624
|
+
}
|
625
|
+
|
626
|
+
// Project the circle center onto the edge segment.
|
627
|
+
var vertIndex1 = normalIndex;
|
628
|
+
var vertIndex2 = vertIndex1 + 1 < poly.m_vertexCount ? vertIndex1 + 1 : 0;
|
629
|
+
//var e = b2Math.SubtractVV(poly.m_vertices[vertIndex2] , poly.m_vertices[vertIndex1]);
|
630
|
+
var eX = poly.m_vertices[vertIndex2].x - poly.m_vertices[vertIndex1].x;
|
631
|
+
var eY = poly.m_vertices[vertIndex2].y - poly.m_vertices[vertIndex1].y;
|
632
|
+
//var length = e.Normalize();
|
633
|
+
var length = Math.sqrt(eX*eX + eY*eY);
|
634
|
+
eX /= length;
|
635
|
+
eY /= length;
|
636
|
+
|
637
|
+
// If the edge length is zero ...
|
638
|
+
if (length < Number.MIN_VALUE)
|
639
|
+
{
|
640
|
+
//d = b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]);
|
641
|
+
dX = xLocalX - poly.m_vertices[vertIndex1].x;
|
642
|
+
dY = xLocalY - poly.m_vertices[vertIndex1].y;
|
643
|
+
//dist = d.Normalize();
|
644
|
+
dist = Math.sqrt(dX*dX + dY*dY);
|
645
|
+
dX /= dist;
|
646
|
+
dY /= dist;
|
647
|
+
if (dist > radius)
|
648
|
+
{
|
649
|
+
return;
|
650
|
+
}
|
651
|
+
|
652
|
+
manifold.pointCount = 1;
|
653
|
+
//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
|
654
|
+
manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
|
655
|
+
tPoint = manifold.points[0];
|
656
|
+
tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
|
657
|
+
tPoint.id.features.incidentVertex = vertIndex1;
|
658
|
+
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
659
|
+
tPoint.id.features.flip = 0;
|
660
|
+
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
661
|
+
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
662
|
+
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
663
|
+
tPoint.separation = dist - radius;
|
664
|
+
return;
|
665
|
+
}
|
666
|
+
|
667
|
+
// Project the center onto the edge.
|
668
|
+
//var u = b2Math.b2Dot(b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]) , e);
|
669
|
+
var u = (xLocalX-poly.m_vertices[vertIndex1].x) * eX + (xLocalY-poly.m_vertices[vertIndex1].y) * eY;
|
670
|
+
|
671
|
+
tPoint = manifold.points[0];
|
672
|
+
tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
|
673
|
+
tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
|
674
|
+
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
675
|
+
tPoint.id.features.flip = 0;
|
676
|
+
|
677
|
+
var pX, pY;
|
678
|
+
if (u <= 0.0)
|
679
|
+
{
|
680
|
+
pX = poly.m_vertices[vertIndex1].x;
|
681
|
+
pY = poly.m_vertices[vertIndex1].y;
|
682
|
+
tPoint.id.features.incidentVertex = vertIndex1;
|
683
|
+
}
|
684
|
+
else if (u >= length)
|
685
|
+
{
|
686
|
+
pX = poly.m_vertices[vertIndex2].x;
|
687
|
+
pY = poly.m_vertices[vertIndex2].y;
|
688
|
+
tPoint.id.features.incidentVertex = vertIndex2;
|
689
|
+
}
|
690
|
+
else
|
691
|
+
{
|
692
|
+
//p = b2Math.AddVV(poly.m_vertices[vertIndex1] , b2Math.MulFV(u, e));
|
693
|
+
pX = eX * u + poly.m_vertices[vertIndex1].x;
|
694
|
+
pY = eY * u + poly.m_vertices[vertIndex1].y;
|
695
|
+
tPoint.id.features.incidentEdge = vertIndex1;
|
696
|
+
}
|
697
|
+
|
698
|
+
//d = b2Math.SubtractVV(xLocal , p);
|
699
|
+
dX = xLocalX - pX;
|
700
|
+
dY = xLocalY - pY;
|
701
|
+
//dist = d.Normalize();
|
702
|
+
dist = Math.sqrt(dX*dX + dY*dY);
|
703
|
+
dX /= dist;
|
704
|
+
dY /= dist;
|
705
|
+
if (dist > radius)
|
706
|
+
{
|
707
|
+
return;
|
708
|
+
}
|
709
|
+
|
710
|
+
manifold.pointCount = 1;
|
711
|
+
//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
|
712
|
+
manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
|
713
|
+
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
714
|
+
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
715
|
+
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
716
|
+
tPoint.separation = dist - radius;
|
717
|
+
};
|
718
|
+
b2Collision.b2TestOverlap = function(a, b)
|
719
|
+
{
|
720
|
+
var t1 = b.minVertex;
|
721
|
+
var t2 = a.maxVertex;
|
722
|
+
//d1 = b2Math.SubtractVV(b.minVertex, a.maxVertex);
|
723
|
+
var d1X = t1.x - t2.x;
|
724
|
+
var d1Y = t1.y - t2.y;
|
725
|
+
//d2 = b2Math.SubtractVV(a.minVertex, b.maxVertex);
|
726
|
+
t1 = a.minVertex;
|
727
|
+
t2 = b.maxVertex;
|
728
|
+
var d2X = t1.x - t2.x;
|
729
|
+
var d2Y = t1.y - t2.y;
|
730
|
+
|
731
|
+
if (d1X > 0.0 || d1Y > 0.0)
|
732
|
+
return false;
|
733
|
+
|
734
|
+
if (d2X > 0.0 || d2Y > 0.0)
|
735
|
+
return false;
|
736
|
+
|
737
|
+
return true;
|
738
|
+
};
|