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max bittker 2022-01-20 22:43:21 -05:00
parent b5b5644b7a
commit 891d9ddf78
3 changed files with 352 additions and 49 deletions
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373
build/matter.js
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@ -143,6 +143,9 @@ module.exports = Common;
Common._warnedOnce = {};
Common._decomp = null;
Common._2PI = 2 * Math.PI;
Common._3PI = 3 * Math.PI;
/**
* Extends the object in the first argument using the object in the second argument.
* @method extend
@ -379,6 +382,43 @@ module.exports = Common;
return value < 0 ? -1 : 1;
};
/**
* Returns the normalised signed difference between the two angles in radians [-PI, PI].
* @method angleDiff
* @param {number} angleA the first angle in radians
* @param {number} angleB the second angle in radians
* @return {number} the normalised signed difference
*/
Common.angleDiff = function(angleA, angleB) {
return ((((angleA - angleB) % Common._2PI) + Common._3PI) % Common._2PI) - Math.PI;
};
/**
* Clamps the given `angle` in radians between `angleMin` and `angleMax` inclusive.
* @method clampAngle
* @param {number} angleMin the angle minimum in radians
* @param {number} angleMax the angle maximum in radians
* @return {number} the clamped angle
*/
Common.clampAngle = function(angle, angleMin, angleMax) {
if (angleMax - angleMin === 0) {
return angleMax;
}
var deltaMin = Common.angleDiff(angle, angleMin);
var deltaMax = Common.angleDiff(angle, angleMax);
if (deltaMin > 0 && deltaMax < 0) {
return angle;
}
if (Math.abs(deltaMin) < Math.abs(deltaMax)) {
return angle - deltaMin;
}
return angle - deltaMax;
};
/**
* Returns the current timestamp since the time origin (e.g. from page load).
* The result is in milliseconds and will use high-resolution timing if available.
@ -4347,8 +4387,12 @@ var Contact = __webpack_require__(17);
/**
* The `Matter.Constraint` module contains methods for creating and manipulating constraints.
* Constraints are used for specifying that a fixed distance must be maintained between two bodies (or a body and a fixed world-space position).
* The stiffness of constraints can be modified to create springs or elastic.
*
* Constraints are used for specifying that a fixed distance or angle must be maintained between bodies or fixed points.
*
* The stiffness and damping can be modified for a spring-like effect.
*
* The angle range and angle stiffness can also be limited if needed.
*
* See the included usage [examples](https://github.com/liabru/matter-js/tree/master/examples).
*
@ -4370,15 +4414,23 @@ var Common = __webpack_require__(0);
Constraint._warming = 0.4;
Constraint._torqueDampen = 1;
Constraint._angleLimitDampen = 0.5;
Constraint._minLength = 0.000001;
/**
* Creates a new constraint.
* All properties have default values, and many are pre-calculated automatically based on other properties.
* To simulate a revolute constraint (or pin joint) set `length: 0` and a high `stiffness` value (e.g. `0.7` or above).
* If the constraint is unstable, try lowering the `stiffness` value and / or increasing `engine.constraintIterations`.
* For compound bodies, constraints must be applied to the parent body (not one of its parts).
* See the properties section below for detailed information on what you can pass via the `options` object.
*
* All properties have default values and some may be calculated automatically based on other properties.
*
* To simulate a pin constraint (or revolute joint) set `length: 0` and a high `stiffness` value (e.g. `0.7` or above).
*
* To limit the range of angles of the constraint see the set of angle properties.
*
* If the constraint is unstable, try lowering the `stiffness` value or increasing `engine.constraintIterations`.
*
* For compound bodies, constraints must be applied to the parent body and not its parts.
*
* See the properties section which may be set through the `options` object.
* @method create
* @param {} options
* @return {constraint} constraint
@ -4395,7 +4447,8 @@ var Common = __webpack_require__(0);
// calculate static length using initial world space points
var initialPointA = constraint.bodyA ? Vector.add(constraint.bodyA.position, constraint.pointA) : constraint.pointA,
initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB,
length = Vector.magnitude(Vector.sub(initialPointA, initialPointB));
length = Vector.magnitude(Vector.sub(initialPointA, initialPointB)),
angle = Vector.angle(initialPointA, initialPointB);
constraint.length = typeof constraint.length !== 'undefined' ? constraint.length : length;
@ -4406,17 +4459,32 @@ var Common = __webpack_require__(0);
constraint.stiffness = constraint.stiffness || (constraint.length > 0 ? 1 : 0.7);
constraint.damping = constraint.damping || 0;
constraint.angularStiffness = constraint.angularStiffness || 0;
constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA;
constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB;
constraint.angleAPrev = constraint.bodyA ? constraint.bodyA.angle : constraint.angleAPrev;
constraint.angleBPrev = constraint.bodyB ? constraint.bodyB.angle : constraint.angleBPrev;
constraint.plugin = {};
constraint.angleA = typeof constraint.angleA !== 'undefined' ?
constraint.angleA : (constraint.bodyA ? 0 : angle);
constraint.angleAStiffness = constraint.angleAStiffness || 0;
constraint.angleAMin = constraint.angleAMin || 0;
constraint.angleAMax = constraint.angleAMax || 0;
constraint.angleB = typeof constraint.angleB !== 'undefined' ?
constraint.angleB : (constraint.bodyB ? 0 : angle);
constraint.angleBStiffness = constraint.angleBStiffness || 0;
constraint.angleBMin = constraint.angleBMin || 0;
constraint.angleBMax = constraint.angleBMax || 0;
// render
var render = {
visible: true,
lineWidth: 2,
strokeStyle: '#ffffff',
type: 'line',
anchors: true
anchors: true,
angles: true
};
if (constraint.length === 0 && constraint.stiffness > 0.1) {
@ -4501,14 +4569,14 @@ var Common = __webpack_require__(0);
// update reference angle
if (bodyA && !bodyA.isStatic) {
Vector.rotate(pointA, bodyA.angle - constraint.angleA, pointA);
constraint.angleA = bodyA.angle;
Vector.rotate(pointA, bodyA.angle - constraint.angleAPrev, pointA);
constraint.angleAPrev = bodyA.angle;
}
// update reference angle
if (bodyB && !bodyB.isStatic) {
Vector.rotate(pointB, bodyB.angle - constraint.angleB, pointB);
constraint.angleB = bodyB.angle;
Vector.rotate(pointB, bodyB.angle - constraint.angleBPrev, pointB);
constraint.angleBPrev = bodyB.angle;
}
var pointAWorld = pointA,
@ -4535,11 +4603,29 @@ var Common = __webpack_require__(0);
massTotal = (bodyA ? bodyA.inverseMass : 0) + (bodyB ? bodyB.inverseMass : 0),
inertiaTotal = (bodyA ? bodyA.inverseInertia : 0) + (bodyB ? bodyB.inverseInertia : 0),
resistanceTotal = massTotal + inertiaTotal,
angleAStiffness = (constraint.angleAStiffness < 1 ? constraint.angleAStiffness * timeScale : constraint.angleAStiffness) * Constraint._angleLimitDampen,
angleBStiffness = (constraint.angleBStiffness < 1 ? constraint.angleBStiffness * timeScale : constraint.angleBStiffness) * Constraint._angleLimitDampen,
torque,
share,
normal,
normalVelocity,
relativeVelocity;
relativeVelocity,
angleLimitPointA,
angleLimitPointB;
if (constraint.angleAStiffness) {
angleLimitPointA = Constraint.solveAngleLimits(
constraint, bodyA, constraint.angleA, constraint.angleAMin,
constraint.angleAMax, delta, -1, currentLength, pointAWorld, pointBWorld
);
}
if (constraint.angleBStiffness) {
angleLimitPointB = Constraint.solveAngleLimits(
constraint, bodyB, constraint.angleB, constraint.angleBMin,
constraint.angleBMax, delta, 1, currentLength, pointBWorld, pointAWorld
);
}
if (constraint.damping) {
var zero = Vector.create();
@ -4556,6 +4642,12 @@ var Common = __webpack_require__(0);
if (bodyA && !bodyA.isStatic) {
share = bodyA.inverseMass / massTotal;
// temporarily add angular limit force from pointB if pinned
if (angleLimitPointB && (!bodyB || bodyB.isStatic)) {
force.x -= angleLimitPointB.x * angleBStiffness;
force.y -= angleLimitPointB.y * angleBStiffness;
}
// keep track of applied impulses for post solving
bodyA.constraintImpulse.x -= force.x * share;
bodyA.constraintImpulse.y -= force.y * share;
@ -4570,15 +4662,34 @@ var Common = __webpack_require__(0);
bodyA.positionPrev.y -= constraint.damping * normal.y * normalVelocity * share;
}
// apply torque
// find torque to apply
torque = (Vector.cross(pointA, force) / resistanceTotal) * Constraint._torqueDampen * bodyA.inverseInertia * (1 - constraint.angularStiffness);
// add any torque from angular limit at pointA
if (angleLimitPointA) {
torque -= angleLimitPointA.angle * angleAStiffness;
}
// apply torque
bodyA.constraintImpulse.angle -= torque;
bodyA.angle -= torque;
// remove angular limit from pointB
if (angleLimitPointB && (!bodyB || bodyB.isStatic)) {
force.x += angleLimitPointB.x * angleBStiffness;
force.y += angleLimitPointB.y * angleBStiffness;
}
}
if (bodyB && !bodyB.isStatic) {
share = bodyB.inverseMass / massTotal;
// add angular limit force from pointA if pinned
if (angleLimitPointA && (!bodyA || bodyA.isStatic)) {
force.x += angleLimitPointA.x * angleAStiffness;
force.y += angleLimitPointA.y * angleAStiffness;
}
// keep track of applied impulses for post solving
bodyB.constraintImpulse.x += force.x * share;
bodyB.constraintImpulse.y += force.y * share;
@ -4593,8 +4704,15 @@ var Common = __webpack_require__(0);
bodyB.positionPrev.y += constraint.damping * normal.y * normalVelocity * share;
}
// apply torque
// find torque to apply
torque = (Vector.cross(pointB, force) / resistanceTotal) * Constraint._torqueDampen * bodyB.inverseInertia * (1 - constraint.angularStiffness);
// add any torque from angular limit at pointB
if (angleLimitPointB) {
torque += angleLimitPointB.angle * angleBStiffness;
}
// apply torque
bodyB.constraintImpulse.angle += torque;
bodyB.angle += torque;
}
@ -4655,8 +4773,10 @@ var Common = __webpack_require__(0);
*/
Constraint.pointAWorld = function(constraint) {
return {
x: (constraint.bodyA ? constraint.bodyA.position.x : 0) + constraint.pointA.x,
y: (constraint.bodyA ? constraint.bodyA.position.y : 0) + constraint.pointA.y
x: (constraint.bodyA ? constraint.bodyA.position.x : 0)
+ (constraint.pointA ? constraint.pointA.x : 0),
y: (constraint.bodyA ? constraint.bodyA.position.y : 0)
+ (constraint.pointA ? constraint.pointA.y : 0)
};
};
@ -4668,8 +4788,50 @@ var Common = __webpack_require__(0);
*/
Constraint.pointBWorld = function(constraint) {
return {
x: (constraint.bodyB ? constraint.bodyB.position.x : 0) + constraint.pointB.x,
y: (constraint.bodyB ? constraint.bodyB.position.y : 0) + constraint.pointB.y
x: (constraint.bodyB ? constraint.bodyB.position.x : 0)
+ (constraint.pointB ? constraint.pointB.x : 0),
y: (constraint.bodyB ? constraint.bodyB.position.y : 0)
+ (constraint.pointB ? constraint.pointB.y : 0)
};
};
/**
* Solves angle limits on the constraint.
* @private
* @method solveAngleLimits
*/
Constraint.solveAngleLimits = function(constraint, body, angle, angleMin, angleMax, delta, direction, currentLength, pointAWorld, pointBWorld) {
var currentAngle = (body ? body.angle : 0) + (constraint.length > 0 ? angle : 0),
min = angleMin < angleMax ? angleMin : angleMax,
max = angleMax > angleMin ? angleMax : angleMin,
angleNormal = { x: Math.cos(currentAngle), y: Math.sin(currentAngle) },
angleDelta;
if (constraint.length === 0) {
// use absolute angle for pin constraints
angleDelta = Common.angleDiff(angle, currentAngle);
} else {
// otherwise use relative angle
angleDelta = Math.atan2(
angleNormal.x * delta.y * direction - angleNormal.y * delta.x * direction,
angleNormal.x * delta.x * direction + angleNormal.y * delta.y * direction
);
}
// no impulse required if angle within limits
if (angleDelta > min && angleDelta < max) {
return null;
}
// find the clamped angle and clamp the normal
var angleClamped = Common.clampAngle(angleDelta, min, max),
normalLimited = Vector.rotate(angleNormal, angleClamped);
// return the impulses required to correct the angle
return {
x: pointAWorld.x + normalLimited.x * currentLength - pointBWorld.x,
y: pointAWorld.y + normalLimited.y * currentLength - pointBWorld.y,
angle: Common.angleDiff(angleDelta, angleClamped)
};
};
@ -4680,7 +4842,7 @@ var Common = __webpack_require__(0);
*/
/**
* An integer `Number` uniquely identifying number generated in `Composite.create` by `Common.nextId`.
* An integer `Number` uniquely identifying number generated in `Constraint.create` by `Common.nextId`.
*
* @property id
* @type number
@ -4754,6 +4916,14 @@ var Common = __webpack_require__(0);
* @default true
*/
/**
* A `Boolean` that defines if the constraint's anglular limits should be rendered.
*
* @property render.angles
* @type boolean
* @default true
*/
/**
* The first possible `Body` that this constraint is attached to.
*
@ -4788,7 +4958,9 @@ var Common = __webpack_require__(0);
/**
* A `Number` that specifies the stiffness of the constraint, i.e. the rate at which it returns to its resting `constraint.length`.
*
* A value of `1` means the constraint should be very stiff.
*
* A value of `0.2` means the constraint acts like a soft spring.
*
* @property stiffness
@ -4799,8 +4971,11 @@ var Common = __webpack_require__(0);
/**
* A `Number` that specifies the damping of the constraint,
* i.e. the amount of resistance applied to each body based on their velocities to limit the amount of oscillation.
*
* Damping will only be apparent when the constraint also has a very low `stiffness`.
*
* A value of `0.1` means the constraint will apply heavy damping, resulting in little to no oscillation.
*
* A value of `0` means the constraint will apply no damping.
*
* @property damping
@ -4810,12 +4985,121 @@ var Common = __webpack_require__(0);
/**
* A `Number` that specifies the target resting length of the constraint.
*
* It is calculated automatically in `Constraint.create` from initial positions of the `constraint.bodyA` and `constraint.bodyB`.
*
* @property length
* @type number
*/
/**
* A `Number` in radians that specifies the limiting angle of the constraint about `constraint.pointA`.
*
* Only applies if `constraint.angleAStiffness > 0`.
*
* Defaults to the initial angle of the constraint or `0`.
*
* The angle is relative to `constraint.bodyA.angle` if `constraint.bodyA` is set, otherwise is absolute.
*
* When absolute the angle is measured between the vector `constraint.pointA - constraint.pointB` and the x-axis.
*
* @property angleA
* @type number
* @default the initial relative constraint angle
*/
/**
* A `Number` that specifies the stiffness of angular limits about `constraint.pointA`.
*
* A value of `0` (default) means the constraint will not limit the angle.
*
* A value of `0.01` means the constraint will softly limit the angle.
*
* A value of `1` means the constraint will rigidly limit the angle.
*
* @property angleAStiffness
* @type number
* @default 0
*/
/**
* A `Number` in radians that specifies the lower angular limit
* about `constraint.pointA` relative to `constraint.angleA`.
*
* A value of `-0.5` means the constraint is limited to `0.5` radians
* anti-clockwise of `constraint.angleA`, or clockwise if the value is positive.
*
* @property angleAMin
* @type number
* @default 0
*/
/**
* A `Number` in radians that specifies the upper angular limit
* about `constraint.pointA` relative to `constraint.angleA`.
*
* A value of `-0.5` means the constraint is limited to `0.5` radians
* anti-clockwise of `constraint.angleA`, or clockwise if the value is positive.
*
* @property angleAMax
* @type number
* @default 0
*/
/**
* A `Number` in radians that specifies the limiting angle of the constraint about `constraint.pointB`.
*
* Only applies if `constraint.angleBStiffness > 0`.
*
* Defaults to the initial angle of the constraint or `0`.
*
* The angle is relative to `constraint.bodyB.angle` if `constraint.bodyB` is set, otherwise is absolute.
*
* When absolute the angle is measured between the vector `constraint.pointA - constraint.pointB` and the x-axis.
*
* @property angleB
* @type number
* @default the initial relative constraint angle
*/
/**
* A `Number` that specifies the stiffness of angular limits about `constraint.pointB`.
*
* A value of `0` (default) means the constraint will not limit the angle.
*
* A value of `0.01` means the constraint will softly limit the angle.
*
* A value of `1` means the constraint will rigidly limit the angle.
*
* @property angleBStiffness
* @type number
* @default 0
*/
/**
* A `Number` in radians that specifies the lower angular limit
* about `constraint.pointB` relative to `constraint.angleB`.
*
* A value of `-0.5` means the constraint is limited to `0.5` radians
* anti-clockwise of `constraint.angleB`, or clockwise if the value is positive.
*
* @property angleBMin
* @type number
* @default 0
*/
/**
* A `Number` in radians that specifies the upper angular limit
* about `constraint.pointB` relative to `constraint.angleB`.
*
* A value of `-0.5` means the constraint is limited to `0.5` radians
* anti-clockwise of `constraint.angleB`, or clockwise if the value is positive.
*
* @property angleBMax
* @type number
* @default 0
*/
/**
* An object reserved for storing plugin-specific properties.
*
@ -6070,7 +6354,6 @@ var Mouse = __webpack_require__(13);
*/
Render.create = function(options) {
var defaults = {
controller: Render,
engine: null,
element: null,
canvas: null,
@ -6142,6 +6425,7 @@ var Mouse = __webpack_require__(13);
};
// for temporary back compatibility only
render.controller = Render;
render.options.showBroadphase = false;
if (render.options.pixelRatio !== 1) {
@ -6150,8 +6434,6 @@ var Mouse = __webpack_require__(13);
if (Common.isElement(render.element)) {
render.element.appendChild(render.canvas);
} else if (!render.canvas.parentNode) {
Common.log('Render.create: options.element was undefined, render.canvas was created but not appended', 'warn');
}
return render;
@ -6675,17 +6957,17 @@ var Mouse = __webpack_require__(13);
start = constraint.pointA;
}
if (constraint.render.type === 'pin') {
c.beginPath();
c.arc(start.x, start.y, 3, 0, 2 * Math.PI);
c.closePath();
} else {
if (bodyB) {
end = Vector.add(bodyB.position, constraint.pointB);
} else {
end = constraint.pointB;
}
if (constraint.render.type === 'pin') {
c.beginPath();
c.arc(start.x, start.y, 3, 0, 2 * Math.PI);
c.closePath();
} else {
c.beginPath();
c.moveTo(start.x, start.y);
@ -6722,6 +7004,32 @@ var Mouse = __webpack_require__(13);
c.closePath();
c.fill();
}
if (constraint.render.angles && constraint.angleAStiffness) {
var relativeAngle = (constraint.length > 0 && constraint.bodyA ? constraint.bodyA.angle : 0) + constraint.angleA;
c.beginPath();
c.moveTo(start.x, start.y);
c.arc(start.x, start.y, 12, relativeAngle + constraint.angleAMin,
relativeAngle + constraint.angleAMax + 0.0001, constraint.angleAMin <= constraint.angleAMax);
c.lineTo(start.x, start.y);
c.closePath();
c.strokeStyle = 'rgba(255,255,255,' + (0.3 + 0.3 * constraint.angleAStiffness) + ')';
c.lineWidth = 1.2;
c.stroke();
}
if (constraint.render.angles && constraint.angleBStiffness) {
var relativeAngle = (constraint.length > 0 && constraint.bodyB ? constraint.bodyB.angle : 0) + constraint.angleB;
c.beginPath();
c.moveTo(end.x, end.y);
c.arc(end.x, end.y, 12, relativeAngle + constraint.angleBMin,
relativeAngle + constraint.angleBMax + 0.0001, constraint.angleBMin <= constraint.angleBMax);
c.lineTo(end.x, end.y);
c.closePath();
c.strokeStyle = 'rgba(255,255,255,' + (0.3 + 0.3 * constraint.angleBStiffness) + ')';
c.lineWidth = 1.2;
c.stroke();
}
}
};
@ -7551,6 +7859,7 @@ var Mouse = __webpack_require__(13);
/**
* A back-reference to the `Matter.Render` module.
*
* @deprecated
* @property controller
* @type render
*/
@ -9852,7 +10161,7 @@ var Bounds = __webpack_require__(1);
constraint.pointA = mouse.position;
constraint.bodyB = mouseConstraint.body = body;
constraint.pointB = { x: mouse.position.x - body.position.x, y: mouse.position.y - body.position.y };
constraint.angleB = body.angle;
constraint.angleBPrev = body.angle;
Sleeping.set(body, false);
Events.trigger(mouseConstraint, 'startdrag', { mouse: mouse, body: body });

2
build/matter.min.js vendored
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File diff suppressed because one or more lines are too long

22
demo/index.html
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@ -1,20 +1,14 @@
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8" />
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1" />
<meta
name="viewport"
content="width=device-width,initial-scale=1.0,minimum-scale=1.0,maximum-scale=1.0,user-scalable=no,minimal-ui"
/>
<meta name="theme-color" content="#000000" />
<meta name="msapplication-navbutton-color" content="#000000" />
<meta name="apple-mobile-web-app-capable" content="yes" />
<meta
name="apple-mobile-web-app-status-bar-style"
content="black-translucent"
/>
<meta name="robots" content="noindex" />
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<meta name="viewport" content="width=device-width,initial-scale=1.0,minimum-scale=1.0,maximum-scale=1.0,user-scalable=no,minimal-ui">
<meta name="theme-color" content="#000000">
<meta name="msapplication-navbutton-color" content="#000000">
<meta name="apple-mobile-web-app-capable" content="yes">
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
<meta name="robots" content="noindex">
<title>Matter.js Demo</title>
<style type="text/css">