feat: 添加跨平台运行时、资产系统和UI适配功能 (#256)
* feat(platform-common): 添加WASM加载器和环境检测API * feat(rapier2d): 新增Rapier2D WASM绑定包 * feat(physics-rapier2d): 添加跨平台WASM加载器 * feat(asset-system): 添加运行时资产目录和bundle格式 * feat(asset-system-editor): 新增编辑器资产管理包 * feat(editor-core): 添加构建系统和模块管理 * feat(editor-app): 重构浏览器预览使用import maps * feat(platform-web): 添加BrowserRuntime和资产读取 * feat(engine): 添加材质系统和着色器管理 * feat(material): 新增材质系统和着色器编辑器 * feat(tilemap): 增强tilemap编辑器和动画系统 * feat(modules): 添加module.json配置 * feat(core): 添加module.json和类型定义更新 * chore: 更新依赖和构建配置 * refactor(plugins): 更新插件模板使用ModuleManifest * chore: 添加第三方依赖库 * chore: 移除BehaviourTree-ai和ecs-astar子模块 * docs: 更新README和文档主题样式 * fix: 修复Rust文档测试和添加rapier2d WASM绑定 * fix(tilemap-editor): 修复画布高DPI屏幕分辨率适配问题 * feat(ui): 添加UI屏幕适配系统(CanvasScaler/SafeArea) * fix(ecs-engine-bindgen): 添加缺失的ecs-framework-math依赖 * fix: 添加缺失的包依赖修复CI构建 * fix: 修复CodeQL检测到的代码问题 * fix: 修复构建错误和缺失依赖 * fix: 修复类型检查错误 * fix(material-system): 修复tsconfig配置支持TypeScript项目引用 * fix(editor-core): 修复Rollup构建配置添加tauri external * fix: 修复CodeQL检测到的代码问题 * fix: 修复CodeQL检测到的代码问题
This commit is contained in:
YHH
GitHub
485
packages/rapier2d/src/dynamics/impulse_joint.ts
Normal file
485
packages/rapier2d/src/dynamics/impulse_joint.ts
Normal file
@@ -0,0 +1,485 @@
|
||||
import {Rotation, Vector, VectorOps, RotationOps} from "../math";
|
||||
import {
|
||||
RawGenericJoint,
|
||||
RawImpulseJointSet,
|
||||
RawRigidBodySet,
|
||||
RawJointAxis,
|
||||
RawJointType,
|
||||
RawMotorModel,
|
||||
} from "../raw";
|
||||
import {RigidBody, RigidBodyHandle} from "./rigid_body";
|
||||
import {RigidBodySet} from "./rigid_body_set";
|
||||
|
||||
/**
|
||||
* The integer identifier of a collider added to a `ColliderSet`.
|
||||
*/
|
||||
export type ImpulseJointHandle = number;
|
||||
|
||||
/**
|
||||
* An enum grouping all possible types of joints:
|
||||
*
|
||||
* - `Revolute`: A revolute joint that removes all degrees of freedom between the affected
|
||||
* bodies except for the rotation along one axis.
|
||||
* - `Fixed`: A fixed joint that removes all relative degrees of freedom between the affected bodies.
|
||||
* - `Prismatic`: A prismatic joint that removes all degrees of freedom between the affected
|
||||
* bodies except for the translation along one axis.
|
||||
* - `Spherical`: (3D only) A spherical joint that removes all relative linear degrees of freedom between the affected bodies.
|
||||
* - `Generic`: (3D only) A joint with customizable degrees of freedom, allowing any of the 6 axes to be locked.
|
||||
*/
|
||||
export enum JointType {
|
||||
Revolute,
|
||||
Fixed,
|
||||
Prismatic,
|
||||
Rope,
|
||||
Spring,
|
||||
}
|
||||
|
||||
export enum MotorModel {
|
||||
AccelerationBased,
|
||||
ForceBased,
|
||||
}
|
||||
|
||||
/**
|
||||
* An enum representing the possible joint axes of a generic joint.
|
||||
* They can be ORed together, like:
|
||||
* JointAxesMask.LinX || JointAxesMask.LinY
|
||||
* to get a joint that is only free in the X and Y translational (positional) axes.
|
||||
*
|
||||
* Possible free axes are:
|
||||
*
|
||||
* - `X`: X translation axis
|
||||
* - `Y`: Y translation axis
|
||||
* - `Z`: Z translation axis
|
||||
* - `AngX`: X angular rotation axis
|
||||
* - `AngY`: Y angular rotations axis
|
||||
* - `AngZ`: Z angular rotation axis
|
||||
*/
|
||||
export enum JointAxesMask {
|
||||
LinX = 1 << 0,
|
||||
LinY = 1 << 1,
|
||||
LinZ = 1 << 2,
|
||||
AngX = 1 << 3,
|
||||
AngY = 1 << 4,
|
||||
AngZ = 1 << 5,
|
||||
}
|
||||
|
||||
export class ImpulseJoint {
|
||||
protected rawSet: RawImpulseJointSet; // The ImpulseJoint won't need to free this.
|
||||
protected bodySet: RigidBodySet; // The ImpulseJoint won’t need to free this.
|
||||
handle: ImpulseJointHandle;
|
||||
|
||||
constructor(
|
||||
rawSet: RawImpulseJointSet,
|
||||
bodySet: RigidBodySet,
|
||||
handle: ImpulseJointHandle,
|
||||
) {
|
||||
this.rawSet = rawSet;
|
||||
this.bodySet = bodySet;
|
||||
this.handle = handle;
|
||||
}
|
||||
|
||||
public static newTyped(
|
||||
rawSet: RawImpulseJointSet,
|
||||
bodySet: RigidBodySet,
|
||||
handle: ImpulseJointHandle,
|
||||
): ImpulseJoint {
|
||||
switch (rawSet.jointType(handle)) {
|
||||
case RawJointType.Revolute:
|
||||
return new RevoluteImpulseJoint(rawSet, bodySet, handle);
|
||||
case RawJointType.Prismatic:
|
||||
return new PrismaticImpulseJoint(rawSet, bodySet, handle);
|
||||
case RawJointType.Fixed:
|
||||
return new FixedImpulseJoint(rawSet, bodySet, handle);
|
||||
case RawJointType.Spring:
|
||||
return new SpringImpulseJoint(rawSet, bodySet, handle);
|
||||
case RawJointType.Rope:
|
||||
return new RopeImpulseJoint(rawSet, bodySet, handle);
|
||||
default:
|
||||
return new ImpulseJoint(rawSet, bodySet, handle);
|
||||
}
|
||||
}
|
||||
|
||||
/** @internal */
|
||||
public finalizeDeserialization(bodySet: RigidBodySet) {
|
||||
this.bodySet = bodySet;
|
||||
}
|
||||
|
||||
/**
|
||||
* Checks if this joint is still valid (i.e. that it has
|
||||
* not been deleted from the joint set yet).
|
||||
*/
|
||||
public isValid(): boolean {
|
||||
return this.rawSet.contains(this.handle);
|
||||
}
|
||||
|
||||
/**
|
||||
* The first rigid-body this joint it attached to.
|
||||
*/
|
||||
public body1(): RigidBody {
|
||||
return this.bodySet.get(this.rawSet.jointBodyHandle1(this.handle));
|
||||
}
|
||||
|
||||
/**
|
||||
* The second rigid-body this joint is attached to.
|
||||
*/
|
||||
public body2(): RigidBody {
|
||||
return this.bodySet.get(this.rawSet.jointBodyHandle2(this.handle));
|
||||
}
|
||||
|
||||
/**
|
||||
* The type of this joint given as a string.
|
||||
*/
|
||||
public type(): JointType {
|
||||
return this.rawSet.jointType(this.handle) as number as JointType;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* The position of the first anchor of this joint.
|
||||
*
|
||||
* The first anchor gives the position of the application point on the
|
||||
* local frame of the first rigid-body it is attached to.
|
||||
*/
|
||||
public anchor1(): Vector {
|
||||
return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
|
||||
}
|
||||
|
||||
/**
|
||||
* The position of the second anchor of this joint.
|
||||
*
|
||||
* The second anchor gives the position of the application point on the
|
||||
* local frame of the second rigid-body it is attached to.
|
||||
*/
|
||||
public anchor2(): Vector {
|
||||
return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the position of the first anchor of this joint.
|
||||
*
|
||||
* The first anchor gives the position of the application point on the
|
||||
* local frame of the first rigid-body it is attached to.
|
||||
*/
|
||||
public setAnchor1(newPos: Vector) {
|
||||
const rawPoint = VectorOps.intoRaw(newPos);
|
||||
this.rawSet.jointSetAnchor1(this.handle, rawPoint);
|
||||
rawPoint.free();
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the position of the second anchor of this joint.
|
||||
*
|
||||
* The second anchor gives the position of the application point on the
|
||||
* local frame of the second rigid-body it is attached to.
|
||||
*/
|
||||
public setAnchor2(newPos: Vector) {
|
||||
const rawPoint = VectorOps.intoRaw(newPos);
|
||||
this.rawSet.jointSetAnchor2(this.handle, rawPoint);
|
||||
rawPoint.free();
|
||||
}
|
||||
|
||||
/**
|
||||
* Controls whether contacts are computed between colliders attached
|
||||
* to the rigid-bodies linked by this joint.
|
||||
*/
|
||||
public setContactsEnabled(enabled: boolean) {
|
||||
this.rawSet.jointSetContactsEnabled(this.handle, enabled);
|
||||
}
|
||||
|
||||
/**
|
||||
* Indicates if contacts are enabled between colliders attached
|
||||
* to the rigid-bodies linked by this joint.
|
||||
*/
|
||||
public contactsEnabled(): boolean {
|
||||
return this.rawSet.jointContactsEnabled(this.handle);
|
||||
}
|
||||
}
|
||||
|
||||
export class UnitImpulseJoint extends ImpulseJoint {
|
||||
/**
|
||||
* The axis left free by this joint.
|
||||
*/
|
||||
protected rawAxis?(): RawJointAxis;
|
||||
|
||||
/**
|
||||
* Are the limits enabled for this joint?
|
||||
*/
|
||||
public limitsEnabled(): boolean {
|
||||
return this.rawSet.jointLimitsEnabled(this.handle, this.rawAxis());
|
||||
}
|
||||
|
||||
/**
|
||||
* The min limit of this joint.
|
||||
*/
|
||||
public limitsMin(): number {
|
||||
return this.rawSet.jointLimitsMin(this.handle, this.rawAxis());
|
||||
}
|
||||
|
||||
/**
|
||||
* The max limit of this joint.
|
||||
*/
|
||||
public limitsMax(): number {
|
||||
return this.rawSet.jointLimitsMax(this.handle, this.rawAxis());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the limits of this joint.
|
||||
*
|
||||
* @param min - The minimum bound of this joint’s free coordinate.
|
||||
* @param max - The maximum bound of this joint’s free coordinate.
|
||||
*/
|
||||
public setLimits(min: number, max: number) {
|
||||
this.rawSet.jointSetLimits(this.handle, this.rawAxis(), min, max);
|
||||
}
|
||||
|
||||
public configureMotorModel(model: MotorModel) {
|
||||
this.rawSet.jointConfigureMotorModel(
|
||||
this.handle,
|
||||
this.rawAxis(),
|
||||
model as number as RawMotorModel,
|
||||
);
|
||||
}
|
||||
|
||||
public configureMotorVelocity(targetVel: number, factor: number) {
|
||||
this.rawSet.jointConfigureMotorVelocity(
|
||||
this.handle,
|
||||
this.rawAxis(),
|
||||
targetVel,
|
||||
factor,
|
||||
);
|
||||
}
|
||||
|
||||
public configureMotorPosition(
|
||||
targetPos: number,
|
||||
stiffness: number,
|
||||
damping: number,
|
||||
) {
|
||||
this.rawSet.jointConfigureMotorPosition(
|
||||
this.handle,
|
||||
this.rawAxis(),
|
||||
targetPos,
|
||||
stiffness,
|
||||
damping,
|
||||
);
|
||||
}
|
||||
|
||||
public configureMotor(
|
||||
targetPos: number,
|
||||
targetVel: number,
|
||||
stiffness: number,
|
||||
damping: number,
|
||||
) {
|
||||
this.rawSet.jointConfigureMotor(
|
||||
this.handle,
|
||||
this.rawAxis(),
|
||||
targetPos,
|
||||
targetVel,
|
||||
stiffness,
|
||||
damping,
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
export class FixedImpulseJoint extends ImpulseJoint {}
|
||||
|
||||
export class RopeImpulseJoint extends ImpulseJoint {}
|
||||
|
||||
export class SpringImpulseJoint extends ImpulseJoint {}
|
||||
|
||||
export class PrismaticImpulseJoint extends UnitImpulseJoint {
|
||||
public rawAxis(): RawJointAxis {
|
||||
return RawJointAxis.LinX;
|
||||
}
|
||||
}
|
||||
|
||||
export class RevoluteImpulseJoint extends UnitImpulseJoint {
|
||||
public rawAxis(): RawJointAxis {
|
||||
return RawJointAxis.AngX;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
export class JointData {
|
||||
anchor1: Vector;
|
||||
anchor2: Vector;
|
||||
axis: Vector;
|
||||
frame1: Rotation;
|
||||
frame2: Rotation;
|
||||
jointType: JointType;
|
||||
limitsEnabled: boolean;
|
||||
limits: Array<number>;
|
||||
axesMask: JointAxesMask;
|
||||
stiffness: number;
|
||||
damping: number;
|
||||
length: number;
|
||||
|
||||
private constructor() {}
|
||||
|
||||
/**
|
||||
* Creates a new joint descriptor that builds a Fixed joint.
|
||||
*
|
||||
* A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their
|
||||
* anchor and local frames coincide in world-space.
|
||||
*
|
||||
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
* @param frame1 - The reference orientation of the joint wrt. the first rigid-body.
|
||||
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
* @param frame2 - The reference orientation of the joint wrt. the second rigid-body.
|
||||
*/
|
||||
public static fixed(
|
||||
anchor1: Vector,
|
||||
frame1: Rotation,
|
||||
anchor2: Vector,
|
||||
frame2: Rotation,
|
||||
): JointData {
|
||||
let res = new JointData();
|
||||
res.anchor1 = anchor1;
|
||||
res.anchor2 = anchor2;
|
||||
res.frame1 = frame1;
|
||||
res.frame2 = frame2;
|
||||
res.jointType = JointType.Fixed;
|
||||
return res;
|
||||
}
|
||||
|
||||
public static spring(
|
||||
rest_length: number,
|
||||
stiffness: number,
|
||||
damping: number,
|
||||
anchor1: Vector,
|
||||
anchor2: Vector,
|
||||
): JointData {
|
||||
let res = new JointData();
|
||||
res.anchor1 = anchor1;
|
||||
res.anchor2 = anchor2;
|
||||
res.length = rest_length;
|
||||
res.stiffness = stiffness;
|
||||
res.damping = damping;
|
||||
res.jointType = JointType.Spring;
|
||||
return res;
|
||||
}
|
||||
|
||||
public static rope(
|
||||
length: number,
|
||||
anchor1: Vector,
|
||||
anchor2: Vector,
|
||||
): JointData {
|
||||
let res = new JointData();
|
||||
res.anchor1 = anchor1;
|
||||
res.anchor2 = anchor2;
|
||||
res.length = length;
|
||||
res.jointType = JointType.Rope;
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Create a new joint descriptor that builds revolute joints.
|
||||
*
|
||||
* A revolute joint allows three relative rotational degrees of freedom
|
||||
* by preventing any relative translation between the anchors of the
|
||||
* two attached rigid-bodies.
|
||||
*
|
||||
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
*/
|
||||
public static revolute(anchor1: Vector, anchor2: Vector): JointData {
|
||||
let res = new JointData();
|
||||
res.anchor1 = anchor1;
|
||||
res.anchor2 = anchor2;
|
||||
res.jointType = JointType.Revolute;
|
||||
return res;
|
||||
}
|
||||
|
||||
/**
|
||||
* Creates a new joint descriptor that builds a Prismatic joint.
|
||||
*
|
||||
* A prismatic joint removes all the degrees of freedom between the
|
||||
* affected bodies, except for the translation along one axis.
|
||||
*
|
||||
* @param anchor1 - Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
* @param anchor2 - Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the
|
||||
* local-space of the rigid-body.
|
||||
* @param axis - Axis of the joint, expressed in the local-space of the rigid-bodies it is attached to.
|
||||
*/
|
||||
public static prismatic(
|
||||
anchor1: Vector,
|
||||
anchor2: Vector,
|
||||
axis: Vector,
|
||||
): JointData {
|
||||
let res = new JointData();
|
||||
res.anchor1 = anchor1;
|
||||
res.anchor2 = anchor2;
|
||||
res.axis = axis;
|
||||
res.jointType = JointType.Prismatic;
|
||||
return res;
|
||||
}
|
||||
|
||||
|
||||
|
||||
public intoRaw(): RawGenericJoint {
|
||||
let rawA1 = VectorOps.intoRaw(this.anchor1);
|
||||
let rawA2 = VectorOps.intoRaw(this.anchor2);
|
||||
let rawAx;
|
||||
let result;
|
||||
let limitsEnabled = false;
|
||||
let limitsMin = 0.0;
|
||||
let limitsMax = 0.0;
|
||||
|
||||
switch (this.jointType) {
|
||||
case JointType.Fixed:
|
||||
let rawFra1 = RotationOps.intoRaw(this.frame1);
|
||||
let rawFra2 = RotationOps.intoRaw(this.frame2);
|
||||
result = RawGenericJoint.fixed(rawA1, rawFra1, rawA2, rawFra2);
|
||||
rawFra1.free();
|
||||
rawFra2.free();
|
||||
break;
|
||||
case JointType.Spring:
|
||||
result = RawGenericJoint.spring(
|
||||
this.length,
|
||||
this.stiffness,
|
||||
this.damping,
|
||||
rawA1,
|
||||
rawA2,
|
||||
);
|
||||
break;
|
||||
case JointType.Rope:
|
||||
result = RawGenericJoint.rope(this.length, rawA1, rawA2);
|
||||
break;
|
||||
case JointType.Prismatic:
|
||||
rawAx = VectorOps.intoRaw(this.axis);
|
||||
|
||||
if (!!this.limitsEnabled) {
|
||||
limitsEnabled = true;
|
||||
limitsMin = this.limits[0];
|
||||
limitsMax = this.limits[1];
|
||||
}
|
||||
|
||||
result = RawGenericJoint.prismatic(
|
||||
rawA1,
|
||||
rawA2,
|
||||
rawAx,
|
||||
limitsEnabled,
|
||||
limitsMin,
|
||||
limitsMax,
|
||||
);
|
||||
|
||||
|
||||
rawAx.free();
|
||||
break;
|
||||
case JointType.Revolute:
|
||||
result = RawGenericJoint.revolute(rawA1, rawA2);
|
||||
break;
|
||||
}
|
||||
|
||||
rawA1.free();
|
||||
rawA2.free();
|
||||
|
||||
return result;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user