From 509c4f0cd7ca0c4f7c7aa86219fa8a5d4c09f4ca Mon Sep 17 00:00:00 2001
From: Oliver Zell <zOadT@users.noreply.github.com>
Date: Sat, 5 Aug 2023 11:23:31 +0200
Subject: [PATCH 1/3] docs: extend some docs
---
src/common/Sweep.ts | 10 +++++-----
src/dynamics/World.ts | 8 +++++---
src/dynamics/joint/DistanceJoint.ts | 2 ++
3 files changed, 12 insertions(+), 8 deletions(-)
diff --git a/src/common/Sweep.ts b/src/common/Sweep.ts
index 249eee17..c978b5a8 100644
--- a/src/common/Sweep.ts
+++ b/src/common/Sweep.ts
@@ -84,15 +84,15 @@ export class Sweep {
/**
* Get the interpolated transform at a specific time.
*
- * @param xf
+ * @param transform the output transform
* @param beta A factor in [0,1], where 0 indicates alpha0
*/
- getTransform(xf: TransformValue, beta: number = 0): void {
- matrix.setRotAngle(xf.q, (1.0 - beta) * this.a0 + beta * this.a);
- matrix.combineVec2(xf.p, (1.0 - beta), this.c0, beta, this.c);
+ getTransform(transform: TransformValue, beta: number = 0): void {
+ matrix.setRotAngle(transform.q, (1.0 - beta) * this.a0 + beta * this.a);
+ matrix.combineVec2(transform.p, (1.0 - beta), this.c0, beta, this.c);
// shift to origin
- matrix.subVec2(xf.p, matrix.rotVec2(temp, xf.q, this.localCenter));
+ matrix.subVec2(transform.p, matrix.rotVec2(temp, transform.q, this.localCenter));
}
/**
diff --git a/src/dynamics/World.ts b/src/dynamics/World.ts
index 9e3f3170..40d02232 100644
--- a/src/dynamics/World.ts
+++ b/src/dynamics/World.ts
@@ -74,14 +74,16 @@ const WorldDefDefault: WorldDef = {
* Callback function for ray casts, see {@link World.rayCast}.
*
* Called for each fixture found in the query. You control how the ray cast
- * proceeds by returning a float: return -1: ignore this fixture and continue
- * return 0: terminate the ray cast return fraction: clip the ray to this point
+ * proceeds by returning a float:
+ * return -1: ignore this fixture and continue
+ * return 0: terminate the ray cast
+ * return fraction: clip the ray to this point
* return 1: don't clip the ray and continue
*
* @param fixture The fixture hit by the ray
* @param point The point of initial intersection
* @param normal The normal vector at the point of intersection
- * @param fraction
+ * @param fraction The fraction along the ray at the point of intersection
*
* @return -1 to filter, 0 to terminate, fraction to clip the ray for closest hit, 1 to continue
*/
diff --git a/src/dynamics/joint/DistanceJoint.ts b/src/dynamics/joint/DistanceJoint.ts
index d593186c..f65fc7fa 100644
--- a/src/dynamics/joint/DistanceJoint.ts
+++ b/src/dynamics/joint/DistanceJoint.ts
@@ -349,6 +349,8 @@ export class DistanceJoint extends Joint {
// magic formulas
const h = step.dt;
+
+ // gamma = 1 / (h * (d + h * k)), the extra factor of h in the denominator is since the lambda is an impulse, not a force
this.m_gamma = h * (d + h * k);
this.m_gamma = this.m_gamma != 0.0 ? 1.0 / this.m_gamma : 0.0;
this.m_bias = C * h * k * this.m_gamma;
From 71204d266ffbf228aec464007b9957bdc0f9d7fd Mon Sep 17 00:00:00 2001
From: Oliver Zell <zOadT@users.noreply.github.com>
Date: Sat, 5 Aug 2023 12:12:21 +0200
Subject: [PATCH 2/3] feat!: rename body active property to enabled and set
newContacts
---
example/PolyShapes.js | 2 +-
src/dynamics/Body.ts | 55 ++++++++++++++++++++++--------------------
src/dynamics/Joint.ts | 6 ++---
src/dynamics/Solver.ts | 6 ++---
src/dynamics/World.ts | 8 +++---
5 files changed, 40 insertions(+), 37 deletions(-)
diff --git a/example/PolyShapes.js b/example/PolyShapes.js
index afc884d8..c722d94e 100644
--- a/example/PolyShapes.js
+++ b/example/PolyShapes.js
@@ -124,7 +124,7 @@ testbed.keydown = function(code, char) {
case 'Z':
for (var i = 0; i < bodies.length; i += 2) {
var body = bodies[i];
- body.setActive(!body.isActive());
+ body.setEnabled(!body.isEnabled());
}
break;
diff --git a/src/dynamics/Body.ts b/src/dynamics/Body.ts
index c1ba7818..9d89e359 100644
--- a/src/dynamics/Body.ts
+++ b/src/dynamics/Body.ts
@@ -108,9 +108,9 @@ export interface BodyDef {
*/
awake?: boolean;
/**
- * Does this body start out active?
+ * Does this body start out enabled?
*/
- active?: boolean;
+ enabled?: boolean;
userData?: any;
}
@@ -131,7 +131,7 @@ const BodyDefDefault: BodyDef = {
allowSleep : true,
awake : true,
- active : true,
+ enabled : true,
userData : null
};
@@ -185,7 +185,7 @@ export class Body {
/** @internal */ m_autoSleepFlag: boolean;
/** @internal */ m_bulletFlag: boolean;
/** @internal */ m_fixedRotationFlag: boolean;
- /** @internal */ m_activeFlag: boolean;
+ /** @internal */ m_enabledFlag: boolean;
/** @internal */ m_islandFlag: boolean;
/** @internal */ m_toiFlag: boolean;
/** @internal */ m_userData: unknown;
@@ -234,7 +234,7 @@ export class Body {
this.m_autoSleepFlag = def.allowSleep;
this.m_bulletFlag = def.bullet;
this.m_fixedRotationFlag = def.fixedRotation;
- this.m_activeFlag = def.active;
+ this.m_enabledFlag = def.enabled;
this.m_islandFlag = false;
this.m_toiFlag = false;
@@ -486,39 +486,42 @@ export class Body {
}
}
- isActive(): boolean {
- return this.m_activeFlag;
+ isEnabled(): boolean {
+ return this.m_enabledFlag;
}
/**
- * Set the active state of the body. An inactive body is not simulated and
- * cannot be collided with or woken up. If you pass a flag of true, all fixtures
- * will be added to the broad-phase. If you pass a flag of false, all fixtures
- * will be removed from the broad-phase and all contacts will be destroyed.
- * Fixtures and joints are otherwise unaffected.
- *
- * You may continue to create/destroy fixtures and joints on inactive bodies.
- * Fixtures on an inactive body are implicitly inactive and will not participate
- * in collisions, ray-casts, or queries. Joints connected to an inactive body
- * are implicitly inactive. An inactive body is still owned by a World object
- * and remains
+ * Allow a body to be disabled. A disabled body is not simulated and cannot be
+ * collided with or woken up.
+ * If you pass a flag of true, all fixtures will be added to the broad-phase.
+ * If you pass a flag of false, all fixtures will be removed from the
+ * broad-phase and all contacts will be destroyed.
+ *
+ * Fixtures and joints are otherwise unaffected. You may continue to
+ * create/destroy fixtures and joints on disabled bodies.
+ * Fixtures on a disabled body are implicitly disabled and will not
+ * participate in collisions, ray-casts, or queries.
+ * Joints connected to a disabled body are implicitly disabled.
+ * An diabled body is still owned by a b2World object and remains in the body
+ * list.
*/
- setActive(flag: boolean): void {
+ setEnabled(flag: boolean): void {
_ASSERT && console.assert(this.isWorldLocked() == false);
- if (flag == this.m_activeFlag) {
+ if (flag == this.m_enabledFlag) {
return;
}
- this.m_activeFlag = !!flag;
+ this.m_enabledFlag = !!flag;
- if (this.m_activeFlag) {
+ if (this.m_enabledFlag) {
// Create all proxies.
const broadPhase = this.m_world.m_broadPhase;
for (let f = this.m_fixtureList; f; f = f.m_next) {
f.createProxies(broadPhase, this.m_xf);
}
- // Contacts are created the next time step.
+ // Contacts are created at the beginning of the next time step.
+ this.m_world.m_newContacts = true;
} else {
// Destroy all proxies.
@@ -1021,7 +1024,7 @@ export class Body {
return null;
}
- if (this.m_activeFlag) {
+ if (this.m_enabledFlag) {
const broadPhase = this.m_world.m_broadPhase;
fixture.createProxies(broadPhase, this.m_xf);
}
@@ -1036,7 +1039,7 @@ export class Body {
// Let the world know we have a new fixture. This will cause new contacts
// to be created at the beginning of the next time step.
- this.m_world.m_newFixture = true;
+ this.m_world.m_newContacts = true;
return fixture;
}
@@ -1124,7 +1127,7 @@ export class Body {
}
}
- if (this.m_activeFlag) {
+ if (this.m_enabledFlag) {
const broadPhase = this.m_world.m_broadPhase;
fixture.destroyProxies(broadPhase);
}
diff --git a/src/dynamics/Joint.ts b/src/dynamics/Joint.ts
index 1a1bc72f..4324bd5a 100644
--- a/src/dynamics/Joint.ts
+++ b/src/dynamics/Joint.ts
@@ -126,10 +126,10 @@ export abstract class Joint {
}
/**
- * Short-cut function to determine if either body is inactive.
+ * Short-cut function to determine if either body is enabled.
*/
- isActive(): boolean {
- return this.m_bodyA.isActive() && this.m_bodyB.isActive();
+ isEnabled(): boolean {
+ return this.m_bodyA.isEnabled() && this.m_bodyB.isEnabled();
}
/**
diff --git a/src/dynamics/Solver.ts b/src/dynamics/Solver.ts
index 91235b05..fa892c92 100644
--- a/src/dynamics/Solver.ts
+++ b/src/dynamics/Solver.ts
@@ -185,7 +185,7 @@ export class Solver {
continue;
}
- if (seed.isAwake() == false || seed.isActive() == false) {
+ if (seed.isAwake() == false || seed.isEnabled() == false) {
continue;
}
@@ -205,7 +205,7 @@ export class Solver {
while (stack.length > 0) {
// Grab the next body off the stack and add it to the island.
const b = stack.pop();
- _ASSERT && console.assert(b.isActive() == true);
+ _ASSERT && console.assert(b.isEnabled() == true);
this.addBody(b);
// Make sure the body is awake (without resetting sleep timer).
@@ -262,7 +262,7 @@ export class Solver {
const other = je.other;
// Don't simulate joints connected to inactive bodies.
- if (other.isActive() == false) {
+ if (other.isEnabled() == false) {
continue;
}
diff --git a/src/dynamics/World.ts b/src/dynamics/World.ts
index 40d02232..d97fa8ad 100644
--- a/src/dynamics/World.ts
+++ b/src/dynamics/World.ts
@@ -107,7 +107,7 @@ export class World {
/** @internal */ m_allowSleep: boolean;
/** @internal */ m_gravity: Vec2;
/** @internal */ m_clearForces: boolean;
- /** @internal */ m_newFixture: boolean;
+ /** @internal */ m_newContacts: boolean;
/** @internal */ m_locked: boolean;
/** @internal */ m_warmStarting: boolean;
/** @internal */ m_continuousPhysics: boolean;
@@ -158,7 +158,7 @@ export class World {
this.m_gravity = Vec2.clone(def.gravity);
this.m_clearForces = true;
- this.m_newFixture = false;
+ this.m_newContacts = false;
this.m_locked = false;
// These are for debugging the solver.
@@ -794,9 +794,9 @@ export class World {
positionIterations = positionIterations || this.m_positionIterations;
// If new fixtures were added, we need to find the new contacts.
- if (this.m_newFixture) {
+ if (this.m_newContacts) {
this.findNewContacts();
- this.m_newFixture = false;
+ this.m_newContacts = false;
}
this.m_locked = true;
From 48d4cd44f46956eae603f7a8e7e31b4f3456ea1c Mon Sep 17 00:00:00 2001
From: Oliver Zell <zOadT@users.noreply.github.com>
Date: Sat, 5 Aug 2023 12:15:29 +0200
Subject: [PATCH 3/3] refactor: fix baumgarte typo
---
src/Settings.ts | 6 +++---
src/dynamics/Contact.ts | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/Settings.ts b/src/Settings.ts
index 093ffdc6..ed27ab03 100644
--- a/src/Settings.ts
+++ b/src/Settings.ts
@@ -137,7 +137,7 @@ export class Settings {
* to 1 often lead to overshoot.
*/
static baumgarte: number = 0.2;
- static toiBaugarte: number = 0.75;
+ static toiBaumgarte: number = 0.75;
// Sleep
@@ -219,8 +219,8 @@ export class SettingsInternal {
static get baumgarte() {
return Settings.baumgarte;
}
- static get toiBaugarte() {
- return Settings.toiBaugarte;
+ static get toiBaumgarte() {
+ return Settings.toiBaumgarte;
}
static get timeToSleep() {
return Settings.timeToSleep;
diff --git a/src/dynamics/Contact.ts b/src/dynamics/Contact.ts
index 661c85a7..9f71f334 100644
--- a/src/dynamics/Contact.ts
+++ b/src/dynamics/Contact.ts
@@ -732,7 +732,7 @@ export class Contact {
// Track max constraint error.
minSeparation = Math.min(minSeparation, separation);
- const baumgarte = toi ? Settings.toiBaugarte : Settings.baumgarte;
+ const baumgarte = toi ? Settings.toiBaumgarte : Settings.baumgarte;
const linearSlop = Settings.linearSlop;
const maxLinearCorrection = Settings.maxLinearCorrection;