新增verlet物理引擎（实验性）
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yhh
47
source/src/Physics/Verlet/Constraints/AngleConstraint.ts
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47
source/src/Physics/Verlet/Constraints/AngleConstraint.ts
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///<reference path="./Constraint.ts" />
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module es {
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export class AngleConstraint extends Constraint {
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public stiffness: number;
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public angleInRadius: number;
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_particleA: Particle;
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_centerParticle: Particle;
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_particleC: Particle;
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constructor(a: Particle, center: Particle, c: Particle, stiffness: number) {
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super();
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this._particleA = a;
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this._centerParticle = center;
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this._particleC = c;
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this.stiffness = stiffness;
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this.collidesWithColliders = false;
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this.angleInRadius = this.angleBetweenParticles();
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}
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angleBetweenParticles(): number {
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const first = this._particleA.position.sub(this._centerParticle.position);
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const second = this._particleC.position.sub(this._centerParticle.position);
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return Math.atan2(first.x * second.y - first.y * second.x, first.x * second.x + first.y * second.y);
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}
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public solve() {
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const angleBetween = this.angleBetweenParticles();
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let diff = angleBetween - this.angleInRadius;
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if (diff <= -Math.PI)
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diff += 2 * Math.PI;
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else if(diff >= Math.PI)
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diff -= 2 * Math.PI;
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diff *= this.stiffness;
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this._particleA.position = MathHelper.rotateAround2(this._particleA.position, this._centerParticle.position, diff);
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this._particleC.position = MathHelper.rotateAround2(this._particleC.position, this._centerParticle.position, -diff);
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this._centerParticle.position = MathHelper.rotateAround2(this._centerParticle.position, this._particleA.position, diff);
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this._centerParticle.position = MathHelper.rotateAround2(this._centerParticle.position, this._particleC.position, -diff);
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}
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}
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}
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16
source/src/Physics/Verlet/Constraints/Constraint.ts
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16
source/src/Physics/Verlet/Constraints/Constraint.ts
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module es {
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export abstract class Constraint {
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public composite: Composite;
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public collidesWithColliders: boolean = true;
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public abstract solve(): void;
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public handleCollisions(collidesWithLayers: number) {
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}
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public debugRender(batcher: IBatcher) {
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}
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}
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}
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123
source/src/Physics/Verlet/Constraints/DistanceConstraint.ts
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123
source/src/Physics/Verlet/Constraints/DistanceConstraint.ts
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module es {
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export class DistanceConstraint extends Constraint {
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public stiffness: number;
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public restingDistance: number;
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public tearSensitivity = Number.POSITIVE_INFINITY;
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public shouldApproximateCollisionsWithPoints: boolean;
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public totalPointsToApproximateCollisionsWith = 5;
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_particleOne: Particle;
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_particleTwo: Particle;
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static _polygon: Polygon = new Polygon([]);
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constructor(first: Particle, second: Particle, stiffness: number, distance: number = -1) {
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super();
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DistanceConstraint._polygon.create(2, 1);
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this._particleOne = first;
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this._particleTwo = second;
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this.stiffness = stiffness;
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if (distance > -1)
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this.restingDistance = distance;
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else
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this.restingDistance = Vector2.distance(first.position, second.position);
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}
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public static create(a: Particle, center: Particle, c: Particle, stiffness: number, angleInDegrees: number) {
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const aToCenter = Vector2.distance(a.position, center.position);
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const cToCenter = Vector2.distance(c.position, center.position);
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const distance = Math.sqrt(aToCenter * aToCenter + cToCenter * cToCenter - (2 * aToCenter * cToCenter * Math.cos(angleInDegrees * MathHelper.Deg2Rad)));
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return new DistanceConstraint(a, c, stiffness, distance);
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}
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public setTearSensitivity(tearSensitivity: number) {
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this.tearSensitivity = tearSensitivity;
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return this;
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}
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public setCollidesWithColliders(collidesWithColliders: boolean) {
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this.collidesWithColliders = collidesWithColliders;
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return this;
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}
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public setShouldApproximateCollisionsWithPoints(shouldApproximateCollisionsWithPoints: boolean) {
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this.shouldApproximateCollisionsWithPoints = shouldApproximateCollisionsWithPoints;
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return this;
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}
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public solve(): void {
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const diff = this._particleOne.position.sub(this._particleTwo.position);
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const d = diff.magnitude();
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const difference = (this.restingDistance - d) / d;
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if (d / this.restingDistance > this.tearSensitivity) {
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this.composite.removeConstraint(this);
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return;
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}
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const im1 = 1 / this._particleOne.mass;
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const im2 = 1 / this._particleTwo.mass;
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const scalarP1 = (im1 / (im1 + im2)) * this.stiffness;
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const scalarP2 = this.stiffness - scalarP1;
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this._particleOne.position = this._particleOne.position.add(diff.scale(scalarP1 * difference));
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this._particleTwo.position = this._particleTwo.position.sub(diff.scale(scalarP2 * difference));
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}
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public handleCollisions(collidesWithLayers: number) {
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if (this.shouldApproximateCollisionsWithPoints) {
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this.approximateCollisionsWithPoints(collidesWithLayers);
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return;
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}
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const minX = Math.min(this._particleOne.position.x, this._particleTwo.position.x);
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const maxX = Math.max(this._particleOne.position.x, this._particleTwo.position.x);
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const minY = Math.min(this._particleOne.position.y, this._particleTwo.position.y);
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const maxY = Math.max(this._particleOne.position.y, this._particleTwo.position.y);
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DistanceConstraint._polygon.bounds = Rectangle.fromMinMax(minX, minY, maxX, maxY);
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let midPoint: Vector2;
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this.preparePolygonForCollisionChecks(midPoint);
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const colliders = Physics.boxcastBroadphase(DistanceConstraint._polygon.bounds, collidesWithLayers);
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for (let i = 0; i < colliders.length; i ++) {
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const collider = colliders[i];
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const result = new CollisionResult();
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if (DistanceConstraint._polygon.collidesWithShape(collider.shape, result)) {
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this._particleOne.position = this._particleOne.position.sub(result.minimumTranslationVector);
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this._particleTwo.position = this._particleTwo.position.sub(result.minimumTranslationVector);
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}
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}
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}
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approximateCollisionsWithPoints(collidesWithLayers: number) {
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let pt: Vector2;
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for (let j = 0; j < this.totalPointsToApproximateCollisionsWith - 1; j ++) {
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pt = Vector2.lerp(this._particleOne.position, this._particleTwo.position, (j + 1) / this.totalPointsToApproximateCollisionsWith);
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const collidedCount = Physics.overlapCircleAll(pt, 3, VerletWorld._colliders, collidesWithLayers);
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for (let i = 0; i < collidedCount; i ++) {
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const collider = VerletWorld._colliders[i];
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const collisionResult = new CollisionResult();
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if (collider.shape.pointCollidesWithShape(pt, collisionResult)) {
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this._particleOne.position = this._particleOne.position.sub(collisionResult.minimumTranslationVector);
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this._particleTwo.position = this._particleTwo.position.sub(collisionResult.minimumTranslationVector);
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}
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}
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}
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}
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preparePolygonForCollisionChecks(midPoint: Vector2) {
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const tempMidPoint = Vector2.lerp(this._particleOne.position, this._particleTwo.position, 0.5);
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midPoint.setTo(tempMidPoint.x, tempMidPoint.y);
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DistanceConstraint._polygon.position = midPoint;
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DistanceConstraint._polygon.points[0] = this._particleOne.position.sub(DistanceConstraint._polygon.position);
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DistanceConstraint._polygon.points[1] = this._particleTwo.position.sub(DistanceConstraint._polygon.position);
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DistanceConstraint._polygon.recalculateCenterAndEdgeNormals();
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}
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public debugRender(batcher: IBatcher) {
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batcher.drawLine(this._particleOne.position, this._particleTwo.position, new Color(67, 62, 54), 1);
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}
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}
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}
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