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optimised Resolver.solvePosition

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liabru 2021-04-27 00:30:53 +01:00
parent a882a74cd5
commit 3cf65e8051
1 changed files with 17 additions and 17 deletions
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34
src/collision/Resolver.js
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@ -29,10 +29,11 @@ var Bounds = require('../geometry/Bounds');
Resolver.preSolvePosition = function(pairs) { Resolver.preSolvePosition = function(pairs) {
var i, var i,
pair, pair,
activeCount; activeCount,
pairsLength = pairs.length;
// find total contacts on each body // find total contacts on each body
for (i = 0; i < pairs.length; i++) { for (i = 0; i < pairsLength; i++) {
pair = pairs[i]; pair = pairs[i];
if (!pair.isActive) if (!pair.isActive)
@ -57,17 +58,13 @@ var Bounds = require('../geometry/Bounds');
bodyA, bodyA,
bodyB, bodyB,
normal, normal,
bodyBtoA,
contactShare, contactShare,
positionImpulse, positionImpulse,
contactCount = {}, positionDampen = Resolver._positionDampen,
tempA = Vector._temp[0], pairsLength = pairs.length;
tempB = Vector._temp[1],
tempC = Vector._temp[2],
tempD = Vector._temp[3];
// find impulses required to resolve penetration // find impulses required to resolve penetration
for (i = 0; i < pairs.length; i++) { for (i = 0; i < pairsLength; i++) {
pair = pairs[i]; pair = pairs[i];
if (!pair.isActive || pair.isSensor) if (!pair.isActive || pair.isSensor)
@ -78,15 +75,18 @@ var Bounds = require('../geometry/Bounds');
bodyB = collision.parentB; bodyB = collision.parentB;
normal = collision.normal; normal = collision.normal;
// TODO: behaviour change: replace with fully simplified version
// get current separation between body edges involved in collision // get current separation between body edges involved in collision
bodyBtoA = Vector.sub(Vector.add(bodyB.positionImpulse, bodyB.position, tempA), pair.separation =
Vector.add(bodyA.positionImpulse, normal.x * (
Vector.sub(bodyB.position, collision.penetration, tempB), tempC), tempD); (bodyB.positionImpulse.x + bodyB.position.x) - (bodyA.positionImpulse.x + (bodyB.position.x - collision.penetration.x))
)
pair.separation = Vector.dot(normal, bodyBtoA); + normal.y * (
(bodyB.positionImpulse.y + bodyB.position.y) - (bodyA.positionImpulse.y + (bodyB.position.y - collision.penetration.y))
);
} }
for (i = 0; i < pairs.length; i++) { for (i = 0; i < pairsLength; i++) {
pair = pairs[i]; pair = pairs[i];
if (!pair.isActive || pair.isSensor) if (!pair.isActive || pair.isSensor)
@ -102,13 +102,13 @@ var Bounds = require('../geometry/Bounds');
positionImpulse *= 2; positionImpulse *= 2;
if (!(bodyA.isStatic || bodyA.isSleeping)) { if (!(bodyA.isStatic || bodyA.isSleeping)) {
contactShare = Resolver._positionDampen / bodyA.totalContacts; contactShare = positionDampen / bodyA.totalContacts;
bodyA.positionImpulse.x += normal.x * positionImpulse * contactShare; bodyA.positionImpulse.x += normal.x * positionImpulse * contactShare;
bodyA.positionImpulse.y += normal.y * positionImpulse * contactShare; bodyA.positionImpulse.y += normal.y * positionImpulse * contactShare;
} }
if (!(bodyB.isStatic || bodyB.isSleeping)) { if (!(bodyB.isStatic || bodyB.isSleeping)) {
contactShare = Resolver._positionDampen / bodyB.totalContacts; contactShare = positionDampen / bodyB.totalContacts;
bodyB.positionImpulse.x -= normal.x * positionImpulse * contactShare; bodyB.positionImpulse.x -= normal.x * positionImpulse * contactShare;
bodyB.positionImpulse.y -= normal.y * positionImpulse * contactShare; bodyB.positionImpulse.y -= normal.y * positionImpulse * contactShare;
} }