739 lines
22 KiB
JavaScript
739 lines
22 KiB
JavaScript
/*
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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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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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if (s > bestSeparation)
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{
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bestEdge = edge;
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bestSeparation = s;
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}
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else
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{
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break;
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}
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}
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// pointer out
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edgeIndex[0] = bestEdge;
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return bestSeparation;
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};
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b2Collision.FindIncidentEdge = function(c, poly1, edge1, poly2)
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{
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var count1 = poly1.m_vertexCount;
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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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// Get the vertices associated with edge1.
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var vertex11 = edge1;
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var vertex12 = edge1 + 1 == count1 ? 0 : edge1 + 1;
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// Get the normal of edge1.
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var tVec = vert1s[vertex12];
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//var normal1Local1 = b2Math.b2CrossVF( b2Math.SubtractVV( vert1s[vertex12], vert1s[vertex11] ), 1.0);
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var normal1Local1X = tVec.x;
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var normal1Local1Y = tVec.y;
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tVec = vert1s[vertex11];
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normal1Local1X -= tVec.x;
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normal1Local1Y -= tVec.y;
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var tX = normal1Local1X;
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normal1Local1X = normal1Local1Y;
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normal1Local1Y = -tX;
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// ^^^^ normal1Local1.CrossVF(1.0);
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var invLength = 1.0 / Math.sqrt(normal1Local1X*normal1Local1X + normal1Local1Y*normal1Local1Y);
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normal1Local1X *= invLength;
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normal1Local1Y *= invLength;
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// ^^^^normal1Local1.Normalize();
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//var normal1 = b2Math.b2MulMV(poly1.m_R, normal1Local1);
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var normal1X = normal1Local1X;
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var normal1Y = normal1Local1Y;
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tX = normal1X;
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var tMat = poly1.m_R;
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normal1X = tMat.col1.x * tX + tMat.col2.x * normal1Y;
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normal1Y = tMat.col1.y * tX + tMat.col2.y * normal1Y;
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// ^^^^ normal1.MulM(poly1.m_R);
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//var normal1Local2 = b2Math.b2MulTMV(poly2.m_R, normal1);
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var normal1Local2X = normal1X;
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var normal1Local2Y = normal1Y;
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tMat = poly2.m_R;
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tX = normal1Local2X * tMat.col1.x + normal1Local2Y * tMat.col1.y;
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normal1Local2Y = normal1Local2X * tMat.col2.x + normal1Local2Y * tMat.col2.y;
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normal1Local2X = tX;
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// ^^^^ normal1Local2.MulTM(poly2.m_R);
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// Find the incident edge on poly2.
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var vertex21 = 0;
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var vertex22 = 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 i1 = i;
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var i2 = i + 1 < count2 ? i + 1 : 0;
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//var normal2Local2 = b2Math.b2CrossVF( b2Math.SubtractVV( vert2s[i2], vert2s[i1] ), 1.0);
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tVec = vert2s[i2];
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var normal2Local2X = tVec.x;
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var normal2Local2Y = tVec.y;
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tVec = vert2s[i1];
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normal2Local2X -= tVec.x;
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normal2Local2Y -= tVec.y;
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tX = normal2Local2X;
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normal2Local2X = normal2Local2Y;
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normal2Local2Y = -tX;
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// ^^^^ normal2Local2.CrossVF(1.0);
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invLength = 1.0 / Math.sqrt(normal2Local2X*normal2Local2X + normal2Local2Y*normal2Local2Y);
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normal2Local2X *= invLength;
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normal2Local2Y *= invLength;
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// ^^^^ normal2Local2.Normalize();
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//var dot = b2Math.b2Dot(normal2Local2, normal1Local2);
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var dot = normal2Local2X * normal1Local2X + normal2Local2Y * normal1Local2Y;
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if (dot < minDot)
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{
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minDot = dot;
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vertex21 = i1;
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vertex22 = i2;
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}
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}
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var tClip;
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// Build the clip vertices for the incident edge.
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tClip = c[0];
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//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex21]));
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tVec = tClip.v;
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tVec.SetV(vert2s[vertex21]);
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tVec.MulM(poly2.m_R);
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tVec.Add(poly2.m_position);
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tClip.id.features.referenceFace = edge1;
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tClip.id.features.incidentEdge = vertex21;
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tClip.id.features.incidentVertex = vertex21;
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tClip = c[1];
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//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex22]));
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tVec = tClip.v;
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tVec.SetV(vert2s[vertex22]);
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tVec.MulM(poly2.m_R);
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tVec.Add(poly2.m_position);
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tClip.id.features.referenceFace = edge1;
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tClip.id.features.incidentEdge = vertex21;
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tClip.id.features.incidentVertex = vertex22;
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};
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b2Collision.b2CollidePolyTempVec = new b2Vec2();
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b2Collision.b2CollidePoly = function(manifold, polyA, polyB, conservative)
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{
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manifold.pointCount = 0;
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var edgeA = 0;
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var edgeAOut = [edgeA];
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var separationA = b2Collision.FindMaxSeparation(edgeAOut, polyA, polyB, conservative);
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edgeA = edgeAOut[0];
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if (separationA > 0.0 && conservative == false)
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return;
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var edgeB = 0;
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var edgeBOut = [edgeB];
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var separationB = b2Collision.FindMaxSeparation(edgeBOut, polyB, polyA, conservative);
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edgeB = edgeBOut[0];
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if (separationB > 0.0 && conservative == false)
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return;
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var poly1;
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var poly2;
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var edge1 = 0;
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var flip = 0;
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var k_relativeTol = 0.98;
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var k_absoluteTol = 0.001;
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// TODO_ERIN use "radius" of poly for absolute tolerance.
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if (separationB > k_relativeTol * separationA + k_absoluteTol)
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{
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poly1 = polyB;
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poly2 = polyA;
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edge1 = edgeB;
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flip = 1;
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}
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else
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{
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poly1 = polyA;
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poly2 = polyB;
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edge1 = edgeA;
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flip = 0;
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}
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var incidentEdge = [new ClipVertex(), new ClipVertex()];
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b2Collision.FindIncidentEdge(incidentEdge, poly1, edge1, poly2);
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var count1 = poly1.m_vertexCount;
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var vert1s = poly1.m_vertices;
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var v11 = vert1s[edge1];
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var v12 = edge1 + 1 < count1 ? vert1s[edge1+1] : vert1s[0];
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//var dv = b2Math.SubtractVV(v12, v11);
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var dvX = v12.x - v11.x;
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var dvY = v12.y - v11.y;
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//var sideNormal = b2Math.b2MulMV(poly1.m_R, b2Math.SubtractVV(v12, v11));
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var sideNormalX = v12.x - v11.x;
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var sideNormalY = v12.y - v11.y;
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var tX = sideNormalX;
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var tMat = poly1.m_R;
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sideNormalX = tMat.col1.x * tX + tMat.col2.x * sideNormalY;
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sideNormalY = tMat.col1.y * tX + tMat.col2.y * sideNormalY;
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// ^^^^ sideNormal.MulM(poly1.m_R);
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var invLength = 1.0 / Math.sqrt(sideNormalX*sideNormalX + sideNormalY*sideNormalY);
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sideNormalX *= invLength;
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sideNormalY *= invLength;
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// ^^^^ sideNormal.Normalize();
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//var frontNormal = b2Math.b2CrossVF(sideNormal, 1.0);
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var frontNormalX = sideNormalX;
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var frontNormalY = sideNormalY;
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tX = frontNormalX;
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frontNormalX = frontNormalY;
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frontNormalY = -tX;
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// ^^^^ frontNormal.CrossVF(1.0);
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// Expanded for performance
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//v11 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v11));
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var v11X = v11.x;
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var v11Y = v11.y;
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tX = v11X;
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tMat = poly1.m_R;
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v11X = tMat.col1.x * tX + tMat.col2.x * v11Y;
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v11Y = tMat.col1.y * tX + tMat.col2.y * v11Y;
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// ^^^^ v11.MulM(poly1.m_R);
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v11X += poly1.m_position.x;
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v11Y += poly1.m_position.y;
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//v12 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v12));
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var v12X = v12.x;
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var v12Y = v12.y;
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tX = v12X;
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tMat = poly1.m_R;
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v12X = tMat.col1.x * tX + tMat.col2.x * v12Y;
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v12Y = tMat.col1.y * tX + tMat.col2.y * v12Y;
|
|
// ^^^^ v12.MulM(poly1.m_R);
|
|
v12X += poly1.m_position.x;
|
|
v12Y += poly1.m_position.y;
|
|
|
|
//var frontOffset = b2Math.b2Dot(frontNormal, v11);
|
|
var frontOffset = frontNormalX * v11X + frontNormalY * v11Y;
|
|
//var sideOffset1 = -b2Math.b2Dot(sideNormal, v11);
|
|
var sideOffset1 = -(sideNormalX * v11X + sideNormalY * v11Y);
|
|
//var sideOffset2 = b2Math.b2Dot(sideNormal, v12);
|
|
var sideOffset2 = sideNormalX * v12X + sideNormalY * v12Y;
|
|
|
|
// Clip incident edge against extruded edge1 side edges.
|
|
var clipPoints1 = [new ClipVertex(), new ClipVertex()];
|
|
var clipPoints2 = [new ClipVertex(), new ClipVertex()];
|
|
|
|
var np = 0;
|
|
|
|
// Clip to box side 1
|
|
b2Collision.b2CollidePolyTempVec.Set(-sideNormalX, -sideNormalY);
|
|
np = b2Collision.ClipSegmentToLine(clipPoints1, incidentEdge, b2Collision.b2CollidePolyTempVec, sideOffset1);
|
|
|
|
if (np < 2)
|
|
return;
|
|
|
|
// Clip to negative box side 1
|
|
b2Collision.b2CollidePolyTempVec.Set(sideNormalX, sideNormalY);
|
|
np = b2Collision.ClipSegmentToLine(clipPoints2, clipPoints1, b2Collision.b2CollidePolyTempVec, sideOffset2);
|
|
|
|
if (np < 2)
|
|
return;
|
|
|
|
// Now clipPoints2 contains the clipped points.
|
|
if (flip){
|
|
manifold.normal.Set(-frontNormalX, -frontNormalY);
|
|
}
|
|
else{
|
|
manifold.normal.Set(frontNormalX, frontNormalY);
|
|
}
|
|
// ^^^^ manifold.normal = flip ? frontNormal.Negative() : frontNormal;
|
|
|
|
var pointCount = 0;
|
|
for (var i = 0; i < b2Settings.b2_maxManifoldPoints; ++i)
|
|
{
|
|
//var separation = b2Math.b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
|
|
var tVec = clipPoints2[i].v;
|
|
var separation = (frontNormalX * tVec.x + frontNormalY * tVec.y) - frontOffset;
|
|
|
|
if (separation <= 0.0 || conservative == true)
|
|
{
|
|
var cp = manifold.points[ pointCount ];
|
|
cp.separation = separation;
|
|
cp.position.SetV( clipPoints2[i].v );
|
|
cp.id.Set( clipPoints2[i].id );
|
|
cp.id.features.flip = flip;
|
|
++pointCount;
|
|
}
|
|
}
|
|
|
|
manifold.pointCount = pointCount;
|
|
};
|
|
b2Collision.b2CollideCircle = function(manifold, circle1, circle2, conservative)
|
|
{
|
|
manifold.pointCount = 0;
|
|
|
|
//var d = b2Math.SubtractVV(circle2.m_position, circle1.m_position);
|
|
var dX = circle2.m_position.x - circle1.m_position.x;
|
|
var dY = circle2.m_position.y - circle1.m_position.y;
|
|
//var distSqr = b2Math.b2Dot(d, d);
|
|
var distSqr = dX * dX + dY * dY;
|
|
var radiusSum = circle1.m_radius + circle2.m_radius;
|
|
if (distSqr > radiusSum * radiusSum && conservative == false)
|
|
{
|
|
return;
|
|
}
|
|
|
|
var separation;
|
|
if (distSqr < Number.MIN_VALUE)
|
|
{
|
|
separation = -radiusSum;
|
|
manifold.normal.Set(0.0, 1.0);
|
|
}
|
|
else
|
|
{
|
|
var dist = Math.sqrt(distSqr);
|
|
separation = dist - radiusSum;
|
|
var a = 1.0 / dist;
|
|
manifold.normal.x = a * dX;
|
|
manifold.normal.y = a * dY;
|
|
}
|
|
|
|
manifold.pointCount = 1;
|
|
var tPoint = manifold.points[0];
|
|
tPoint.id.set_key(0);
|
|
tPoint.separation = separation;
|
|
//tPoint.position = b2Math.SubtractVV(circle2.m_position, b2Math.MulFV(circle2.m_radius, manifold.normal));
|
|
tPoint.position.x = circle2.m_position.x - (circle2.m_radius * manifold.normal.x);
|
|
tPoint.position.y = circle2.m_position.y - (circle2.m_radius * manifold.normal.y);
|
|
};
|
|
b2Collision.b2CollidePolyAndCircle = function(manifold, poly, circle, conservative)
|
|
{
|
|
manifold.pointCount = 0;
|
|
var tPoint;
|
|
|
|
var dX;
|
|
var dY;
|
|
|
|
// Compute circle position in the frame of the polygon.
|
|
//var xLocal = b2Math.b2MulTMV(poly.m_R, b2Math.SubtractVV(circle.m_position, poly.m_position));
|
|
var xLocalX = circle.m_position.x - poly.m_position.x;
|
|
var xLocalY = circle.m_position.y - poly.m_position.y;
|
|
var tMat = poly.m_R;
|
|
var tX = xLocalX * tMat.col1.x + xLocalY * tMat.col1.y;
|
|
xLocalY = xLocalX * tMat.col2.x + xLocalY * tMat.col2.y;
|
|
xLocalX = tX;
|
|
|
|
var dist;
|
|
|
|
// Find the min separating edge.
|
|
var normalIndex = 0;
|
|
var separation = -Number.MAX_VALUE;
|
|
var radius = circle.m_radius;
|
|
for (var i = 0; i < poly.m_vertexCount; ++i)
|
|
{
|
|
//var s = b2Math.b2Dot(poly.m_normals[i], b2Math.SubtractVV(xLocal, poly.m_vertices[i]));
|
|
var s = poly.m_normals[i].x * (xLocalX-poly.m_vertices[i].x) + poly.m_normals[i].y * (xLocalY-poly.m_vertices[i].y);
|
|
if (s > radius)
|
|
{
|
|
// Early out.
|
|
return;
|
|
}
|
|
|
|
if (s > separation)
|
|
{
|
|
separation = s;
|
|
normalIndex = i;
|
|
}
|
|
}
|
|
|
|
// If the center is inside the polygon ...
|
|
if (separation < Number.MIN_VALUE)
|
|
{
|
|
manifold.pointCount = 1;
|
|
//manifold.normal = b2Math.b2MulMV(poly.m_R, poly.m_normals[normalIndex]);
|
|
var tVec = poly.m_normals[normalIndex];
|
|
manifold.normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
|
|
manifold.normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
|
|
|
|
tPoint = manifold.points[0];
|
|
tPoint.id.features.incidentEdge = normalIndex;
|
|
tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.flip = 0;
|
|
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
|
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
|
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
|
tPoint.separation = separation - radius;
|
|
return;
|
|
}
|
|
|
|
// Project the circle center onto the edge segment.
|
|
var vertIndex1 = normalIndex;
|
|
var vertIndex2 = vertIndex1 + 1 < poly.m_vertexCount ? vertIndex1 + 1 : 0;
|
|
//var e = b2Math.SubtractVV(poly.m_vertices[vertIndex2] , poly.m_vertices[vertIndex1]);
|
|
var eX = poly.m_vertices[vertIndex2].x - poly.m_vertices[vertIndex1].x;
|
|
var eY = poly.m_vertices[vertIndex2].y - poly.m_vertices[vertIndex1].y;
|
|
//var length = e.Normalize();
|
|
var length = Math.sqrt(eX*eX + eY*eY);
|
|
eX /= length;
|
|
eY /= length;
|
|
|
|
// If the edge length is zero ...
|
|
if (length < Number.MIN_VALUE)
|
|
{
|
|
//d = b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]);
|
|
dX = xLocalX - poly.m_vertices[vertIndex1].x;
|
|
dY = xLocalY - poly.m_vertices[vertIndex1].y;
|
|
//dist = d.Normalize();
|
|
dist = Math.sqrt(dX*dX + dY*dY);
|
|
dX /= dist;
|
|
dY /= dist;
|
|
if (dist > radius)
|
|
{
|
|
return;
|
|
}
|
|
|
|
manifold.pointCount = 1;
|
|
//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
|
|
manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
|
|
tPoint = manifold.points[0];
|
|
tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.incidentVertex = vertIndex1;
|
|
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.flip = 0;
|
|
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
|
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
|
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
|
tPoint.separation = dist - radius;
|
|
return;
|
|
}
|
|
|
|
// Project the center onto the edge.
|
|
//var u = b2Math.b2Dot(b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]) , e);
|
|
var u = (xLocalX-poly.m_vertices[vertIndex1].x) * eX + (xLocalY-poly.m_vertices[vertIndex1].y) * eY;
|
|
|
|
tPoint = manifold.points[0];
|
|
tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
|
|
tPoint.id.features.flip = 0;
|
|
|
|
var pX, pY;
|
|
if (u <= 0.0)
|
|
{
|
|
pX = poly.m_vertices[vertIndex1].x;
|
|
pY = poly.m_vertices[vertIndex1].y;
|
|
tPoint.id.features.incidentVertex = vertIndex1;
|
|
}
|
|
else if (u >= length)
|
|
{
|
|
pX = poly.m_vertices[vertIndex2].x;
|
|
pY = poly.m_vertices[vertIndex2].y;
|
|
tPoint.id.features.incidentVertex = vertIndex2;
|
|
}
|
|
else
|
|
{
|
|
//p = b2Math.AddVV(poly.m_vertices[vertIndex1] , b2Math.MulFV(u, e));
|
|
pX = eX * u + poly.m_vertices[vertIndex1].x;
|
|
pY = eY * u + poly.m_vertices[vertIndex1].y;
|
|
tPoint.id.features.incidentEdge = vertIndex1;
|
|
}
|
|
|
|
//d = b2Math.SubtractVV(xLocal , p);
|
|
dX = xLocalX - pX;
|
|
dY = xLocalY - pY;
|
|
//dist = d.Normalize();
|
|
dist = Math.sqrt(dX*dX + dY*dY);
|
|
dX /= dist;
|
|
dY /= dist;
|
|
if (dist > radius)
|
|
{
|
|
return;
|
|
}
|
|
|
|
manifold.pointCount = 1;
|
|
//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
|
|
manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
|
|
//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
|
|
tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
|
|
tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
|
|
tPoint.separation = dist - radius;
|
|
};
|
|
b2Collision.b2TestOverlap = function(a, b)
|
|
{
|
|
var t1 = b.minVertex;
|
|
var t2 = a.maxVertex;
|
|
//d1 = b2Math.SubtractVV(b.minVertex, a.maxVertex);
|
|
var d1X = t1.x - t2.x;
|
|
var d1Y = t1.y - t2.y;
|
|
//d2 = b2Math.SubtractVV(a.minVertex, b.maxVertex);
|
|
t1 = a.minVertex;
|
|
t2 = b.maxVertex;
|
|
var d2X = t1.x - t2.x;
|
|
var d2Y = t1.y - t2.y;
|
|
|
|
if (d1X > 0.0 || d1Y > 0.0)
|
|
return false;
|
|
|
|
if (d2X > 0.0 || d2Y > 0.0)
|
|
return false;
|
|
|
|
return true;
|
|
};
|