@perplexdotgg/bounce 1.0.0 → 1.0.1

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Files changed (134) hide show
  1. package/build/bounce.d.ts +39501 -0
  2. package/build/bounce.js +17166 -0
  3. package/package.json +1 -1
  4. package/src/builders/ConvexHullBuilder.ts +0 -437
  5. package/src/builders/ConvexHullBuilder2d.ts +0 -344
  6. package/src/builders/ConvexHullBuilder3d.ts +0 -1689
  7. package/src/builders/HeightMapBuilder.ts +0 -414
  8. package/src/builders/TriangleMeshBuilder.ts +0 -92
  9. package/src/collision/CastShapesModule.ts +0 -184
  10. package/src/collision/CollideShapesModule.ts +0 -152
  11. package/src/collision/HeightMapCaster.ts +0 -38
  12. package/src/collision/HeightMapCollider.ts +0 -33
  13. package/src/collision/TriangleCaster.ts +0 -249
  14. package/src/collision/TriangleCollider.ts +0 -308
  15. package/src/collision/TriangleCollider2.ts +0 -379
  16. package/src/collision/activeEdge.ts +0 -146
  17. package/src/collision/cast/cast.ts +0 -139
  18. package/src/collision/cast/castCompoundVsCompound.ts +0 -59
  19. package/src/collision/cast/castCompoundVsConvex.ts +0 -116
  20. package/src/collision/cast/castConvexVsCompound.ts +0 -123
  21. package/src/collision/cast/castConvexVsConvex.ts +0 -213
  22. package/src/collision/cast/castConvexVsHeightMap.ts +0 -73
  23. package/src/collision/cast/castConvexVsTriangleMesh.ts +0 -56
  24. package/src/collision/cast/castRayVsCompound.ts +0 -44
  25. package/src/collision/cast/castRayVsConvex.ts +0 -45
  26. package/src/collision/cast/castRayVsHeightMap.ts +0 -58
  27. package/src/collision/cast/castRayVsTriangleMesh.ts +0 -58
  28. package/src/collision/closestPoints/closestPoints.ts +0 -23
  29. package/src/collision/closestPoints/computeBarycentricCoordinates2d.ts +0 -32
  30. package/src/collision/closestPoints/computeBarycentricCoordinates3d.ts +0 -81
  31. package/src/collision/closestPoints/computeClosestPointOnLine.ts +0 -30
  32. package/src/collision/closestPoints/computeClosestPointOnTetrahedron.ts +0 -96
  33. package/src/collision/closestPoints/computeClosestPointOnTriangle.ts +0 -195
  34. package/src/collision/closestPoints/isOriginOutsideOfPlane.ts +0 -25
  35. package/src/collision/closestPoints/isOriginOutsideOfTrianglePlanes.ts +0 -72
  36. package/src/collision/collide/collide.ts +0 -146
  37. package/src/collision/collide/collideCompoundVsCompound.ts +0 -60
  38. package/src/collision/collide/collideCompoundVsConvex.ts +0 -59
  39. package/src/collision/collide/collideCompoundVsHeightMap.ts +0 -73
  40. package/src/collision/collide/collideCompoundVsTriangleMesh.ts +0 -56
  41. package/src/collision/collide/collideConvexVsCompound.ts +0 -57
  42. package/src/collision/collide/collideConvexVsConvex.ts +0 -225
  43. package/src/collision/collide/collideConvexVsConvexImp.ts +0 -236
  44. package/src/collision/collide/collideConvexVsHeightMap.ts +0 -53
  45. package/src/collision/collide/collideConvexVsTriangleMesh.ts +0 -58
  46. package/src/collision/collide/collideHeightMapVsCompound.ts +0 -69
  47. package/src/collision/collide/collideHeightMapVsConvex.ts +0 -53
  48. package/src/collision/collide/collideSphereVsSphere.ts +0 -81
  49. package/src/collision/collide/collideTriangleMeshVsCompound.ts +0 -58
  50. package/src/collision/collide/collideTriangleMeshVsConvex.ts +0 -58
  51. package/src/collision/epa/EpaConvexHullBuilder.ts +0 -397
  52. package/src/collision/epa/StaticArray.ts +0 -154
  53. package/src/collision/epa/TriangleFactory.ts +0 -32
  54. package/src/collision/epa/arrays.ts +0 -99
  55. package/src/collision/epa/binaryHeap.ts +0 -82
  56. package/src/collision/epa/structs.ts +0 -227
  57. package/src/collision/gjk/GjkModule.ts +0 -864
  58. package/src/collision/gjk/PenetrationDepthModule.ts +0 -493
  59. package/src/collision/gjk/SupportPoints.ts +0 -50
  60. package/src/collision/imp/MinkowskiDifference.ts +0 -36
  61. package/src/collision/imp/computeExploredDistanceLowerUpperBound.ts +0 -40
  62. package/src/collision/imp/finalizeImpResult.ts +0 -69
  63. package/src/collision/imp/findContactImp.ts +0 -196
  64. package/src/collision/imp/imp.ts +0 -28
  65. package/src/collision/imp/incrementalMinimumDistanceExploreDirection.ts +0 -207
  66. package/src/collision/mpr/findPortal.ts +0 -152
  67. package/src/collision/mpr/mpr.ts +0 -29
  68. package/src/collision/mpr/updatePortal.ts +0 -52
  69. package/src/constraints/BaseConstraint.ts +0 -50
  70. package/src/constraints/ConstraintOptions.ts +0 -22
  71. package/src/constraints/ConstraintSolver.ts +0 -119
  72. package/src/constraints/DistanceConstraint.ts +0 -229
  73. package/src/constraints/FixedConstraint.ts +0 -203
  74. package/src/constraints/HingeConstraint.ts +0 -460
  75. package/src/constraints/PointConstraint.ts +0 -108
  76. package/src/constraints/components/AngleComponent.ts +0 -226
  77. package/src/constraints/components/AxisComponent.ts +0 -263
  78. package/src/constraints/components/HingeComponent.ts +0 -215
  79. package/src/constraints/components/Motor.ts +0 -36
  80. package/src/constraints/components/PointConstraintComponent.ts +0 -179
  81. package/src/constraints/components/RotationEulerComponent.ts +0 -139
  82. package/src/constraints/components/Spring.ts +0 -30
  83. package/src/constraints/components/SpringComponent.ts +0 -71
  84. package/src/constraints/types.ts +0 -6
  85. package/src/helpers.ts +0 -147
  86. package/src/index.ts +0 -50
  87. package/src/math/BasicTransform.ts +0 -19
  88. package/src/math/NumberValue.ts +0 -13
  89. package/src/math/isometry.ts +0 -64
  90. package/src/math/mat3.ts +0 -529
  91. package/src/math/mat4.ts +0 -588
  92. package/src/math/quat.ts +0 -193
  93. package/src/math/scalar.ts +0 -81
  94. package/src/math/tensor.ts +0 -17
  95. package/src/math/vec3.ts +0 -589
  96. package/src/math/vec4.ts +0 -10
  97. package/src/physics/Body.ts +0 -581
  98. package/src/physics/CollisionFilter.ts +0 -52
  99. package/src/physics/SleepModule.ts +0 -163
  100. package/src/physics/broadphase/BodyPairsModule.ts +0 -363
  101. package/src/physics/broadphase/BvhModule.ts +0 -237
  102. package/src/physics/broadphase/BvhTree.ts +0 -803
  103. package/src/physics/broadphase/ConstraintPairsModule.ts +0 -385
  104. package/src/physics/broadphase/TriangleMeshBvhTree.ts +0 -379
  105. package/src/physics/manifold/ContactManifold.ts +0 -227
  106. package/src/physics/manifold/ContactManifoldModule.ts +0 -623
  107. package/src/physics/manifold/Face.ts +0 -119
  108. package/src/physics/manifold/ManifoldCache.ts +0 -116
  109. package/src/physics/manifold/clipping/clipPolyVsEdge.ts +0 -131
  110. package/src/physics/manifold/clipping/clipPolyVsPlane.ts +0 -73
  111. package/src/physics/manifold/clipping/clipPolyVsPoly.ts +0 -72
  112. package/src/physics/narrowphase/CollideBodiesModule.ts +0 -755
  113. package/src/physics/solver/ContactConstraintModule.ts +0 -659
  114. package/src/physics/solver/ManifoldConstraint.ts +0 -420
  115. package/src/physics/solver/estimateCollisionResponse.ts +0 -146
  116. package/src/shape/Aabb.ts +0 -400
  117. package/src/shape/Box.ts +0 -231
  118. package/src/shape/Capsule.ts +0 -332
  119. package/src/shape/CompoundShape.ts +0 -288
  120. package/src/shape/Convex.ts +0 -130
  121. package/src/shape/ConvexHull.ts +0 -423
  122. package/src/shape/Cylinder.ts +0 -313
  123. package/src/shape/HeightMap.ts +0 -511
  124. package/src/shape/Line.ts +0 -14
  125. package/src/shape/Plane.ts +0 -116
  126. package/src/shape/Ray.ts +0 -81
  127. package/src/shape/Segment.ts +0 -25
  128. package/src/shape/Shape.ts +0 -77
  129. package/src/shape/Sphere.ts +0 -181
  130. package/src/shape/TransformedShape.ts +0 -51
  131. package/src/shape/Triangle.ts +0 -122
  132. package/src/shape/TriangleMesh.ts +0 -186
  133. package/src/types.ts +0 -1
  134. package/src/world.ts +0 -1335
package/src/constraints/BaseConstraint.ts DELETED
@@ -1,50 +0,0 @@
1
- import {
2
- BooleanType,
3
- LazyReferenceType,
4
- NumberType,
5
- PropertyDefinitionMap,
6
- PropertyDefinitionReference,
7
- } from "monomorph";
8
- // unless we use require for these files, this file (BaseConstraint.ts) will be included after it is needed in the final build
9
- import type { Body } from "../physics/Body";
10
- import type { ConstraintPairNode } from "../physics/broadphase/ConstraintPairsModule";
11
-
12
- export const enum ReferenceFrame {
13
- local,
14
- world,
15
- }
16
-
17
- export const enum ConstraintType {
18
- pointConstraint,
19
- fixedConstraint,
20
- distanceConstraint,
21
- hingeConstraint,
22
- }
23
-
24
- export const baseConstraintProps = {
25
- // unless we use require here, this file will be imported after it is needed
26
- bodyA: LazyReferenceType((() => require('../physics/Body').Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
27
- bodyB: LazyReferenceType((() => require('../physics/Body').Body) as () => never) as PropertyDefinitionReference<Body | null, true>,
28
- constraintPairNode: LazyReferenceType((() => require('../physics/broadphase/ConstraintPairsModule').ConstraintPairNode) as () => never) as PropertyDefinitionReference<
29
- ConstraintPairNode | null,
30
- true
31
- >,
32
- referenceFrame: NumberType(0),
33
- isEnabled: BooleanType(true),
34
- } as const satisfies PropertyDefinitionMap;
35
-
36
- export interface ConstraintInterface {
37
- type: ConstraintType;
38
- bodyA: Body | null;
39
- bodyB: Body | null;
40
- constraintPairNode: ConstraintPairNode | null;
41
- referenceFrame: ReferenceFrame;
42
- isEnabled: boolean;
43
-
44
- deactivate(): void;
45
- initVelocityConstraint(deltaTimeSeconds: number): void;
46
- warmStart(deltaTimeSeconds: number, warmStartImpulseRatio: number): void;
47
- solveVelocityConstraint(deltaTimeSeconds: number): void;
48
- solvePositionConstraint(deltaTimeSeconds: number): void;
49
- setComponentData(): void;
50
- }
package/src/constraints/ConstraintOptions.ts DELETED
@@ -1,22 +0,0 @@
1
- import { createClass, NumberType, PropertyDefinitionMap } from "monomorph";
2
-
3
- const constraintOptionsProps = {
4
- /**
5
- * Value used to scale the amount of position error to correct per solve iteration. Expected to be in the interval [0, 1]
6
- */
7
- positionBaumgarte: NumberType(0.8),
8
-
9
- /**
10
- * Value used to scale the amount of velocity error to correct per solve iteration. Expected to be in the interval [0, 1]
11
- */
12
- velocityBaumgarte: NumberType(1.0),
13
-
14
- /**
15
- * Value used to scale the strength of the constraint. recommend to tune in the interval of [0, 1], with 0 being no correction, 1 being full correction
16
- */
17
- strength: NumberType(1.0),
18
- } as const satisfies PropertyDefinitionMap;
19
-
20
- export class ConstraintOptions extends createClass<ConstraintOptions, typeof constraintOptionsProps>(
21
- constraintOptionsProps
22
- ) {}
package/src/constraints/ConstraintSolver.ts DELETED
@@ -1,119 +0,0 @@
1
- import { InputType } from "monomorph";
2
- import type { World } from "../world";
3
- import { ConstraintInterface } from "./BaseConstraint";
4
- import { DistanceConstraint } from "./DistanceConstraint";
5
- import { FixedConstraint } from "./FixedConstraint";
6
- import { HingeConstraint } from "./HingeConstraint";
7
- import { PointConstraint } from "./PointConstraint";
8
- import { ConstraintPairsModule } from "../physics/broadphase/ConstraintPairsModule";
9
- import type { Constraint } from "./types";
10
-
11
- export class ConstraintSolver {
12
- // removeConstraintConnectedToBody: typeof ConstraintSolver.prototype._removeConstraintConnectedToBody;
13
-
14
- world: World;
15
- constraintPairs: ConstraintPairsModule;
16
-
17
- fixedConstraints: typeof FixedConstraint.Pool;
18
- pointConstraints: typeof PointConstraint.Pool;
19
- distanceConstraints: typeof DistanceConstraint.Pool;
20
- hingeConstraints: typeof HingeConstraint.Pool;
21
-
22
- constructor(world: World, constraintPairs: ConstraintPairsModule) {
23
- // this.removeConstraintConnectedToBody = this._removeConstraintConnectedToBody.bind(this);
24
- this.world = world;
25
- this.constraintPairs = constraintPairs;
26
- this.fixedConstraints = new FixedConstraint.Pool();
27
- this.pointConstraints = new PointConstraint.Pool();
28
- this.distanceConstraints = new DistanceConstraint.Pool();
29
- this.hingeConstraints = new HingeConstraint.Pool();
30
- }
31
-
32
- createFixedConstraint(params: InputType<FixedConstraint>) {
33
- const constraint = /*@__PURE__*/ FixedConstraint.create(params, this.fixedConstraints);
34
- this.constraintPairs.createPair(constraint);
35
- constraint.bodyA?.wakeUp();
36
- constraint.bodyB?.wakeUp();
37
- return constraint;
38
- }
39
-
40
- createPointConstraint(params: InputType<PointConstraint>) {
41
- const constraint = /*@__PURE__*/ PointConstraint.create(params, this.pointConstraints);
42
- this.constraintPairs.createPair(constraint);
43
- constraint.bodyA?.wakeUp();
44
- constraint.bodyB?.wakeUp();
45
- return constraint;
46
- }
47
-
48
- createDistanceConstraint(params: InputType<DistanceConstraint>) {
49
- const constraint = /*@__PURE__*/ DistanceConstraint.create(params, this.distanceConstraints);
50
- this.constraintPairs.createPair(constraint);
51
- constraint.bodyA?.wakeUp();
52
- constraint.bodyB?.wakeUp();
53
- return constraint;
54
- }
55
-
56
- createHingeConstraint(params: InputType<HingeConstraint>) {
57
- const constraint = /*@__PURE__*/ HingeConstraint.create(params, this.hingeConstraints);
58
- this.constraintPairs.createPair(constraint);
59
- constraint.bodyA?.wakeUp();
60
- constraint.bodyB?.wakeUp();
61
- return constraint;
62
- }
63
-
64
- destroyConstraint(constraint: Constraint) {
65
- this.constraintPairs.destroyPair(constraint);
66
- constraint.destroy();
67
- }
68
-
69
- *constraints(): IterableIterator<ConstraintInterface> {
70
- yield* this.fixedConstraints;
71
- yield* this.pointConstraints;
72
- yield* this.distanceConstraints;
73
- yield* this.hingeConstraints;
74
- }
75
-
76
- initVelocityConstraints(deltaTimeSeconds: number) {
77
- // iterate over all constraint allocations
78
- for (const constraint of this.constraints()) {
79
- if (this.world.sleepModule.isBodyPairAwake(constraint.bodyA!, constraint.bodyB!)) {
80
- constraint.initVelocityConstraint(deltaTimeSeconds);
81
- }
82
- }
83
- }
84
-
85
- // TODO: should we reset warm start when waking?
86
- warmStartConstraints(deltaTimeSeconds: number, warmStartImpulseRatio: number) {
87
- // iterate over all constraint allocations
88
- for (const constraint of this.constraints()) {
89
- if (this.world.sleepModule.isBodyPairAwake(constraint.bodyA!, constraint.bodyB!)) {
90
- constraint.warmStart(deltaTimeSeconds, warmStartImpulseRatio);
91
- }
92
- }
93
- }
94
-
95
- solveVelocityConstraintsStep(deltaTimeSeconds: number) {
96
- // iterate over all constraint allocations
97
- for (const constraint of this.constraints()) {
98
- if (this.world.sleepModule.isBodyPairAwake(constraint.bodyA!, constraint.bodyB!)) {
99
- constraint.solveVelocityConstraint(deltaTimeSeconds);
100
- }
101
- }
102
- }
103
-
104
- solvePositionConstraintsStep(deltaTimeSeconds: number): void {
105
- // iterate over all constraint allocations
106
- for (const constraint of this.constraints()) {
107
- if (this.world.sleepModule.isBodyPairAwake(constraint.bodyA!, constraint.bodyB!)) {
108
- constraint.solvePositionConstraint(deltaTimeSeconds);
109
- }
110
- }
111
- }
112
-
113
- solvePositionConstraints(deltaTimeSeconds: number): void {
114
- // iterate as many times as there are solver position iterations, TODO: how to handle custom iterations per constraint or at least constraint type or allocation?
115
- for (let i = 0; i < this.world.options.solvePositionIterations; i++) {
116
- this.solvePositionConstraintsStep(deltaTimeSeconds);
117
- }
118
- }
119
- }
package/src/constraints/DistanceConstraint.ts DELETED
@@ -1,229 +0,0 @@
1
- import { createClass, MonomorphType, NumberType, PropertyDefinitionMap } from "monomorph";
2
- import { baseConstraintProps, ConstraintInterface, ConstraintType, ReferenceFrame } from "./BaseConstraint";
3
- import { Vec3 } from "../math/vec3";
4
- import { Spring } from "./components/Spring";
5
- import { AxisComponent } from "./components/AxisComponent";
6
- import type { World } from "../world";
7
- import { Mat4 } from "../math/mat4";
8
-
9
- const transformLocalToWorld = /*@__PURE__*/ Mat4.create();
10
- const worldToLocalTransformA = /*@__PURE__*/ Mat4.create();
11
- const worldToLocalTransformB = /*@__PURE__*/ Mat4.create();
12
- const localToWorldTransformA = /*@__PURE__*/ Mat4.create();
13
- const localToWorldTransformB = /*@__PURE__*/ Mat4.create();
14
- const armA = /*@__PURE__*/ Vec3.create();
15
- const armB = /*@__PURE__*/ Vec3.create();
16
- const vectorAB = /*@__PURE__*/ Vec3.create();
17
-
18
- const distanceConstraintProps = {
19
- ...baseConstraintProps,
20
- positionA: MonomorphType(Vec3, { x: 0, y: 0, z: 0 }),
21
- positionB: MonomorphType(Vec3, { x: 0, y: 0, z: 0 }),
22
- minDistance: NumberType(-1),
23
- maxDistance: NumberType(-1),
24
- spring: MonomorphType(Spring),
25
- axisComponent: MonomorphType(AxisComponent),
26
- localPositionA: MonomorphType(Vec3, undefined, true),
27
- localPositionB: MonomorphType(Vec3, undefined, true),
28
- worldPositionA: MonomorphType(Vec3, undefined, true),
29
- worldPositionB: MonomorphType(Vec3, undefined, true),
30
- worldNormal: MonomorphType(Vec3, undefined, true),
31
- minLambda: NumberType(0, true),
32
- maxLambda: NumberType(0, true),
33
- } as const satisfies PropertyDefinitionMap;
34
-
35
- export class DistanceConstraint
36
- extends createClass<DistanceConstraint, typeof distanceConstraintProps>(distanceConstraintProps)
37
- implements ConstraintInterface
38
- {
39
- type: ConstraintType.distanceConstraint = ConstraintType.distanceConstraint;
40
- declare world: World;
41
-
42
- deactivate(): void {
43
- this.axisComponent.deactivate();
44
- }
45
-
46
- getLocalPoints(outA: Vec3, outB: Vec3): void {
47
- outA.copy(this.localPositionA);
48
- outB.copy(this.localPositionB);
49
- }
50
-
51
- getWorldPoints(outA: Vec3, outB: Vec3): void {
52
- transformLocalToWorld.fromRotationTranslation(this.bodyA!.orientation, this.bodyA!.position);
53
- outA.transformVectorFromMat4(this.localPositionA, transformLocalToWorld);
54
-
55
- transformLocalToWorld.fromRotationTranslation(this.bodyB!.orientation, this.bodyB!.position);
56
- outB.transformVectorFromMat4(this.localPositionB, transformLocalToWorld);
57
- }
58
-
59
- computeLocalPositions(): void {
60
- if (this.referenceFrame === ReferenceFrame.local) {
61
- this.localPositionA.copy(this.positionA);
62
- this.localPositionB.copy(this.positionB);
63
- } else {
64
- worldToLocalTransformA.fromInverseRotationAndTranslation(
65
- this.bodyA!.orientation,
66
- this.bodyA!.computedCenterOfMassPosition
67
- );
68
- worldToLocalTransformB.fromInverseRotationAndTranslation(
69
- this.bodyB!.orientation,
70
- this.bodyB!.computedCenterOfMassPosition
71
- );
72
- this.localPositionA.transformVectorFromMat4(this.positionA, worldToLocalTransformA);
73
- this.localPositionB.transformVectorFromMat4(this.positionB, worldToLocalTransformB);
74
- }
75
- }
76
-
77
- computeWorldPositions(): void {
78
- if (this.referenceFrame === ReferenceFrame.local) {
79
- localToWorldTransformA.fromRotationTranslation(this.bodyA!.orientation, this.bodyA!.computedCenterOfMassPosition);
80
- localToWorldTransformB.fromRotationTranslation(this.bodyB!.orientation, this.bodyB!.computedCenterOfMassPosition);
81
- this.worldPositionA.transformVectorFromMat4(this.positionA, localToWorldTransformA);
82
- this.worldPositionB.transformVectorFromMat4(this.positionB, localToWorldTransformB);
83
- } else {
84
- this.worldPositionA.copy(this.positionA);
85
- this.worldPositionB.copy(this.positionB);
86
- }
87
- }
88
-
89
- computeDistanceLimits(): void {
90
- const distance = this.worldPositionA.distance(this.worldPositionB);
91
- let minDistance: number;
92
- let maxDistance: number;
93
-
94
- if (this.minDistance < 0 && this.maxDistance < 0) {
95
- minDistance = distance;
96
- maxDistance = distance;
97
- } else {
98
- minDistance = this.minDistance < 0 ? Math.min(distance, this.maxDistance) : this.minDistance;
99
- maxDistance = this.maxDistance < 0 ? Math.max(distance, this.minDistance) : this.maxDistance;
100
- }
101
-
102
- // #v-ifdef DEV
103
- // assert that minDistance is less than or equal to maxDistance
104
- if (minDistance > maxDistance) {
105
- throw new Error(
106
- "DistanceConstraint.computeDistanceLimits: minDistance must be less than or equal to maxDistance"
107
- );
108
- }
109
- // #v-endif
110
-
111
- this.minDistance = minDistance;
112
- this.maxDistance = maxDistance;
113
- }
114
-
115
- warmStart(deltaTimeSeconds: number, warmStartImpulseRatio: number): void {
116
- this.setComponentData();
117
- this.axisComponent.warmStart(this.worldNormal, warmStartImpulseRatio);
118
- }
119
-
120
- initVelocityConstraint(deltaTimeSeconds: number): void {
121
- this.setComponentData();
122
-
123
- // update world positions
124
- this.computeWorldPositions();
125
-
126
- // update world normal
127
-
128
- vectorAB.subtractVectors(this.worldPositionB, this.worldPositionA);
129
- const distanceAB = vectorAB.length();
130
- if (distanceAB > 0) {
131
- this.worldNormal.copy(vectorAB).scale(1 / distanceAB);
132
- } else {
133
- // TODO: should we assert here?
134
- }
135
-
136
- // update moment arms
137
-
138
- armA.subtractVectors(this.worldPositionB, this.bodyA!.computedCenterOfMassPosition);
139
- armB.subtractVectors(this.worldPositionB, this.bodyB!.computedCenterOfMassPosition);
140
-
141
- let error: number | undefined = undefined;
142
-
143
- // case: no distance difference, push out or pull in
144
- if (this.minDistance === this.maxDistance) {
145
- error = distanceAB - this.minDistance;
146
- this.minLambda = -Infinity;
147
- this.maxLambda = +Infinity;
148
- }
149
- // case: below min distance, push out
150
- else if (distanceAB <= this.minDistance) {
151
- error = distanceAB - this.minDistance;
152
- this.minLambda = 0;
153
- this.maxLambda = +Infinity;
154
- }
155
- // case: above max distance, pull in
156
- else if (distanceAB >= this.maxDistance) {
157
- error = distanceAB - this.maxDistance;
158
- this.minLambda = -Infinity;
159
- this.maxLambda = 0;
160
- }
161
- // case: between min and max distance, no action
162
- else {
163
- this.axisComponent.deactivate();
164
- }
165
-
166
- if (error !== undefined) {
167
- this.axisComponent.setup(deltaTimeSeconds, armA, armB, this.worldNormal, 0, error, this.spring);
168
- }
169
- }
170
-
171
- solveVelocityConstraint(deltaTimeSeconds: number): void {
172
- this.setComponentData();
173
- if (!this.axisComponent.isActive()) {
174
- return;
175
- }
176
- this.axisComponent.solveVelocity(this.worldNormal, this.minLambda, this.maxLambda);
177
- }
178
-
179
- solvePositionConstraint(deltaTimeSeconds: number): void {
180
- this.setComponentData();
181
- // only solve if no spring effect
182
- if (this.spring.frequency > 0) {
183
- return;
184
- }
185
-
186
- this.computeWorldPositions();
187
-
188
- vectorAB.subtractVectors(this.worldPositionB, this.worldPositionA);
189
-
190
- const distance = vectorAB.dot(this.worldNormal);
191
-
192
- let positionError = 0;
193
- if (distance < this.minDistance) {
194
- positionError = distance - this.minDistance;
195
- } else if (distance > this.maxDistance) {
196
- positionError = distance - this.maxDistance;
197
- }
198
-
199
- if (positionError === 0) {
200
- return;
201
- }
202
-
203
- this.initVelocityConstraint(deltaTimeSeconds);
204
- this.axisComponent.solvePosition(this.worldNormal, positionError);
205
- }
206
-
207
- setComponentData(): void {
208
- // @ts-ignore
209
- this.world = this.bodyA!.world;
210
- // @ts-ignore
211
- this.axisComponent.world = this.bodyA!.world;
212
- this.axisComponent.bodyA = this.bodyA!;
213
- this.axisComponent.bodyB = this.bodyB!;
214
- }
215
- }
216
-
217
- const oldCreate = DistanceConstraint.create;
218
- DistanceConstraint.create = function () {
219
- const constraint = oldCreate.apply(this, arguments as any);
220
- constraint.setComponentData();
221
- constraint.computeLocalPositions();
222
- constraint.computeWorldPositions();
223
- constraint.computeDistanceLimits();
224
- constraint.worldNormal.fromArray([0, 1, 0]);
225
- constraint.deactivate();
226
- constraint.world.sleepModule.wakeBodyUp(constraint.bodyA!);
227
- constraint.world.sleepModule.wakeBodyUp(constraint.bodyB!);
228
- return constraint;
229
- };
package/src/constraints/FixedConstraint.ts DELETED
@@ -1,203 +0,0 @@
1
- import { createClass, MonomorphType, PropertyDefinitionMap } from "monomorph";
2
- import { baseConstraintProps, ConstraintInterface, ConstraintType, ReferenceFrame } from "./BaseConstraint";
3
- import { Vec3 } from "../math/vec3";
4
- import { Quat } from "../math/quat";
5
- import { PointConstraintComponent } from "./components/PointConstraintComponent";
6
- import { RotationEulerComponent } from "./components/RotationEulerComponent";
7
- import type { World } from "../world";
8
- import { Mat4 } from "../math/mat4";
9
- import { Mat3 } from "../math/mat3";
10
-
11
- const transformLocalToWorld = /*@__PURE__*/ Mat4.create();
12
- const constraintRotationA = /*@__PURE__*/ Mat3.create();
13
- const constraintRotationB = /*@__PURE__*/ Mat3.create();
14
- const constraintQuaternionA = /*@__PURE__*/ Quat.create();
15
- const constraintQuaternionB = /*@__PURE__*/ Quat.create();
16
-
17
- const anchor = /*@__PURE__*/ Vec3.create();
18
- const transformWorldToLocalA = /*@__PURE__*/ Mat4.create();
19
- const transformWorldToLocalB = /*@__PURE__*/ Mat4.create();
20
- const inverseRotationB = /*@__PURE__*/ Quat.create();
21
-
22
- const fixedConstraintProps = {
23
- ...baseConstraintProps,
24
- positionA: MonomorphType(Vec3, { x: 0, y: 0, z: 0 }),
25
- positionB: MonomorphType(Vec3, { x: 0, y: 0, z: 0 }),
26
- axisXA: MonomorphType(Vec3, { x: 1, y: 0, z: 0 }),
27
- axisXB: MonomorphType(Vec3, { x: 1, y: 0, z: 0 }),
28
- axisYA: MonomorphType(Vec3, { x: 0, y: 1, z: 0 }),
29
- axisYB: MonomorphType(Vec3, { x: 0, y: 1, z: 0 }),
30
- localPositionA: MonomorphType(Vec3, undefined, true),
31
- localPositionB: MonomorphType(Vec3, undefined, true),
32
- localAxisXA: MonomorphType(Vec3, undefined, true),
33
- localAxisXB: MonomorphType(Vec3, undefined, true),
34
- localAxisYA: MonomorphType(Vec3, undefined, true),
35
- localAxisYB: MonomorphType(Vec3, undefined, true),
36
- localAxisZA: MonomorphType(Vec3, undefined, true),
37
- localAxisZB: MonomorphType(Vec3, undefined, true),
38
- inverseInitialRotationAToB: MonomorphType(Quat, undefined, true),
39
- translationComponent: MonomorphType(PointConstraintComponent),
40
- rotationComponent: MonomorphType(RotationEulerComponent),
41
- } as const satisfies PropertyDefinitionMap;
42
-
43
- export class FixedConstraint
44
- extends createClass<FixedConstraint, typeof fixedConstraintProps>(fixedConstraintProps)
45
- implements ConstraintInterface
46
- {
47
- type: ConstraintType.fixedConstraint = ConstraintType.fixedConstraint;
48
- declare world: World;
49
-
50
- deactivate(): void {
51
- this.translationComponent.deactivate();
52
- this.rotationComponent.deactivate();
53
- }
54
-
55
- getLocalPoints(outA: Vec3, outB: Vec3): void {
56
- outA.copy(this.localPositionA);
57
- outB.copy(this.localPositionB);
58
- }
59
-
60
- getWorldPoints(outA: Vec3, outB: Vec3): void {
61
- transformLocalToWorld.fromRotationTranslation(this.bodyA!.orientation, this.bodyA!.computedCenterOfMassPosition);
62
- outA.transformVectorFromMat4(this.localPositionA, transformLocalToWorld);
63
-
64
- transformLocalToWorld.fromRotationTranslation(this.bodyB!.orientation, this.bodyB!.computedCenterOfMassPosition);
65
- outB.transformVectorFromMat4(this.localPositionB, transformLocalToWorld);
66
- }
67
-
68
- getInverseInitialRotationAToB(out: Quat): void {
69
- this.localAxisXA.copy(this.axisXA);
70
- this.localAxisXB.copy(this.axisXB);
71
- this.localAxisYA.copy(this.axisYA);
72
- this.localAxisYB.copy(this.axisYB);
73
-
74
- if (this.localAxisXA.exactEquals(this.localAxisXB) && this.localAxisYA.exactEquals(this.localAxisYB)) {
75
- this.inverseInitialRotationAToB.identity();
76
- } else {
77
- // normalize the local axes
78
- this.localAxisXA.normalize();
79
- this.localAxisXB.normalize();
80
- this.localAxisYA.normalize();
81
- this.localAxisYB.normalize();
82
-
83
- this.localAxisZA.crossVectors(this.localAxisXA, this.localAxisYA);
84
- this.localAxisZA.normalize();
85
- constraintRotationA.setColumns(this.localAxisXA, this.localAxisYA, this.localAxisZA);
86
- constraintQuaternionA.fromMat3(constraintRotationA);
87
-
88
- this.localAxisZB.crossVectors(this.localAxisXB, this.localAxisYB);
89
- this.localAxisZB.normalize();
90
- constraintRotationB.setColumns(this.localAxisXB, this.localAxisYB, this.localAxisZB);
91
- constraintQuaternionB.fromMat3(constraintRotationB);
92
-
93
- constraintQuaternionA.conjugateQuat(constraintQuaternionA);
94
- out.multiplyQuats(constraintQuaternionB, constraintQuaternionA);
95
- }
96
- }
97
-
98
- computeLocalPositions(): void {
99
- if (this.referenceFrame === ReferenceFrame.local) {
100
- this.localPositionA.copy(this.positionA);
101
- this.localPositionB.copy(this.positionB);
102
- } else {
103
- const inverseMassA = this.bodyA!.inverseMass;
104
- const inverseMassB = this.bodyB!.inverseMass;
105
- const totalInverseMass = inverseMassA + inverseMassB;
106
-
107
- // case: at least one body is dynamic
108
- if (totalInverseMass !== 0) {
109
- anchor.scaleVector(this.bodyA!.computedCenterOfMassPosition, inverseMassA);
110
- anchor.addScaledToVector(anchor, this.bodyB!.computedCenterOfMassPosition, inverseMassB);
111
- anchor.scaleVector(anchor, 1 / totalInverseMass);
112
- }
113
- // case: both bodies are static
114
- else {
115
- anchor.copy(this.bodyA!.computedCenterOfMassPosition);
116
- }
117
-
118
- // store local positions
119
-
120
- transformWorldToLocalA.fromInverseRotationAndTranslation(
121
- this.bodyA!.orientation,
122
- this.bodyA!.computedCenterOfMassPosition
123
- );
124
- transformWorldToLocalB.fromInverseRotationAndTranslation(
125
- this.bodyB!.orientation,
126
- this.bodyB!.computedCenterOfMassPosition
127
- );
128
-
129
- this.localPositionA.transformVectorFromMat4(anchor, transformWorldToLocalA);
130
- this.localPositionB.transformVectorFromMat4(anchor, transformWorldToLocalB);
131
-
132
- // correct the inverse initial rotation from body A to body B
133
-
134
- inverseRotationB.conjugateQuat(this.bodyB!.orientation);
135
-
136
- this.inverseInitialRotationAToB.multiplyQuats(inverseRotationB, this.inverseInitialRotationAToB);
137
- this.inverseInitialRotationAToB.multiplyQuats(this.inverseInitialRotationAToB, this.bodyA!.orientation);
138
- }
139
- }
140
-
141
- initVelocityConstraint(deltaTimeSeconds: number): void {
142
- if (!this.isEnabled) {
143
- return;
144
- }
145
- this.setComponentData();
146
- this.translationComponent.setup(this.localPositionA, this.localPositionB);
147
- this.rotationComponent.setup();
148
- }
149
-
150
- warmStart(deltaTimeSeconds: number, warmStartImpulseRatio: number): void {
151
- if (!this.isEnabled) {
152
- return;
153
- }
154
- this.setComponentData();
155
- this.translationComponent.warmStart(warmStartImpulseRatio);
156
- this.rotationComponent.warmStart(warmStartImpulseRatio);
157
- }
158
-
159
- solveVelocityConstraint(deltaTimeSeconds: number): void {
160
- if (!this.isEnabled) {
161
- return;
162
- }
163
- this.setComponentData();
164
- this.translationComponent.solveVelocity();
165
- this.rotationComponent.solveVelocity();
166
- }
167
-
168
- solvePositionConstraint(deltaTimeSeconds: number): void {
169
- if (!this.isEnabled) {
170
- return;
171
- }
172
- this.setComponentData();
173
- this.translationComponent.setup(this.localPositionA, this.localPositionB);
174
- this.translationComponent.solvePosition();
175
- this.rotationComponent.setup();
176
- this.rotationComponent.solvePosition(this.inverseInitialRotationAToB);
177
- }
178
-
179
- setComponentData(): void {
180
- // @ts-ignore
181
- this.world = this.bodyA!.world;
182
- // @ts-ignore
183
- this.translationComponent.world = this.bodyA!.world;
184
- // @ts-ignore
185
- this.rotationComponent.world = this.bodyA!.world;
186
- this.translationComponent.bodyA = this.bodyA!;
187
- this.translationComponent.bodyB = this.bodyB!;
188
- this.rotationComponent.bodyA = this.bodyA!;
189
- this.rotationComponent.bodyB = this.bodyB!;
190
- }
191
- }
192
-
193
- const oldCreate = FixedConstraint.create;
194
- FixedConstraint.create = function () {
195
- const constraint = oldCreate.apply(this, arguments as any);
196
- constraint.setComponentData();
197
- constraint.getInverseInitialRotationAToB(constraint.inverseInitialRotationAToB);
198
- constraint.computeLocalPositions();
199
- constraint.deactivate();
200
- constraint.world.sleepModule.wakeBodyUp(constraint.bodyA!);
201
- constraint.world.sleepModule.wakeBodyUp(constraint.bodyB!);
202
- return constraint;
203
- };