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graphic-o3d-samples-box2d-3d-third-party-box2d-dynamics-contacts-b2PolyContact.js / js



  /*
  * Copyright (c) 2006-2007 Erin Catto 
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/

var b2PolyContact = Class.create();
Object.extend(b2PolyContact.prototype, b2Contact.prototype);
Object.extend(b2PolyContact.prototype, 
{

                initialize: function(s1, s2) {
                // The constructor for b2Contact
                // initialize instance variables for references
                this.m_node1 = new b2ContactNode();
                this.m_node2 = new b2ContactNode();
                //
                this.m_flags = 0;

                if (!s1 || !s2){
                        this.m_shape1 = null;
                        this.m_shape2 = null;
                        return;
                }

                this.m_shape1 = s1;
                this.m_shape2 = s2;

                this.m_manifoldCount = 0;

                this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
                this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);

                this.m_prev = null;
                this.m_next = null;

                this.m_node1.contact = null;
                this.m_node1.prev = null;
                this.m_node1.next = null;
                this.m_node1.other = null;

                this.m_node2.contact = null;
                this.m_node2.prev = null;
                this.m_node2.next = null;
                this.m_node2.other = null;
                //

                // initialize instance variables for references
                this.m0 = new b2Manifold();
                this.m_manifold = [new b2Manifold()];
                //

                //super(shape1, shape2);
                //b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_polyShape);
                //b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_polyShape);
                this.m_manifold[0].pointCount = 0;
        },
        //~b2PolyContact() {}

        // store temp manifold to reduce calls to new
        m0: new b2Manifold(),

        Evaluate: function(){
                var tMani = this.m_manifold[0];
                // replace memcpy
                // memcpy(&this.m0, &this.m_manifold, sizeof(b2Manifold));
                //this.m0.points = new Array(tMani.pointCount);
                var tPoints = this.m0.points;

                for (var k = 0; k < tMani.pointCount; k++){
                        var tPoint = tPoints[k];
                        var tPoint0 = tMani.points[k];
                        //tPoint.separation = tPoint0.separation;
                        tPoint.normalImpulse = tPoint0.normalImpulse;
                        tPoint.tangentImpulse = tPoint0.tangentImpulse;
                        //tPoint.position.SetV( tPoint0.position );

                        tPoint.id = tPoint0.id.Copy();

                        /*this.m0.points[k].id.features = new Features();
                        this.m0.points[k].id.features.referenceFace = this.m_manifold[0].points[k].id.features.referenceFace;
                        this.m0.points[k].id.features.incidentEdge = this.m_manifold[0].points[k].id.features.incidentEdge;
                        this.m0.points[k].id.features.incidentVertex = this.m_manifold[0].points[k].id.features.incidentVertex;
                        this.m0.points[k].id.features.flip = this.m_manifold[0].points[k].id.features.flip;*/
                }
                //this.m0.normal.SetV( tMani.normal );
                this.m0.pointCount = tMani.pointCount;

                b2Collision.b2CollidePoly(tMani, this.m_shape1, this.m_shape2, false);

                // Match contact ids to facilitate warm starting.
                if (tMani.pointCount > 0)
                {
                        var match = [false, false];

                        // Match old contact ids to new contact ids and copy the
                        // stored impulses to warm start the solver.
                        for (var i = 0; i < tMani.pointCount; ++i)
                        {
                                var cp = tMani.points[ i ];

                                cp.normalImpulse = 0.0;
                                cp.tangentImpulse = 0.0;
                                var idKey = cp.id.key;

                                for (var j = 0; j < this.m0.pointCount; ++j)
                                {

                                        if (match[j] == true)
                                                continue;

                                        var cp0 = this.m0.points[j];
                                        var id0 = cp0.id;

                                        if (id0.key == idKey)
                                        {
                                                match[j] = true;
                                                cp.normalImpulse = cp0.normalImpulse;
                                                cp.tangentImpulse = cp0.tangentImpulse;
                                                break;
                                        }
                                }
                        }

                        this.m_manifoldCount = 1;
                }
                else
                {
                        this.m_manifoldCount = 0;
                }
        },

        GetManifolds: function()
        {
                return this.m_manifold;
        },

        m_manifold: [new b2Manifold()]});

b2PolyContact.Create = function(shape1, shape2, allocator){
                //void* mem = allocator->Allocate(sizeof(b2PolyContact));
                return new b2PolyContact(shape1, shape2);
        };
b2PolyContact.Destroy = function(contact, allocator){
                //((b2PolyContact*)contact)->~b2PolyContact();
                //allocator->Free(contact, sizeof(b2PolyContact));
        };



  *
  * This software is provided 'as-is', without any express or implied
  * warranty.  In no event will the authors be held liable for any damages
  * arising from the use of this software.
  * Permission is granted to anyone to use this software for any purpose,
  * including commercial applications, and to alter it and redistribute it
  * freely, subject to the following restrictions:
  * 1. The origin of this software must not be misrepresented; you must not
  * claim that you wrote the original software. If you use this software
  * in a product, an acknowledgment in the product documentation would be
  * appreciated but is not required.
  * 2. Altered source versions must be plainly marked, and must not be
  * misrepresented the original software.
  * 3. This notice may not be removed or altered from any source distribution.
  */
  
  var b2PolyContact = Class.create();
  Object.extend(b2PolyContact.prototype, b2Contact.prototype);
  Object.extend(b2PolyContact.prototype, 
  {
  
                  initialize: function(s1, s2) {
                  // The constructor for b2Contact
                  // initialize instance variables for references
                  this.m_node1 = new b2ContactNode();
                  this.m_node2 = new b2ContactNode();
                  //
                  this.m_flags = 0;
  
                  if (!s1 || !s2){
                          this.m_shape1 = null;
                          this.m_shape2 = null;
                          return;
                  }
  
                  this.m_shape1 = s1;
                  this.m_shape2 = s2;
  
                  this.m_manifoldCount = 0;
  
                  this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
                  this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
  
                  this.m_prev = null;
                  this.m_next = null;
  
                  this.m_node1.contact = null;
                  this.m_node1.prev = null;
                  this.m_node1.next = null;
                  this.m_node1.other = null;
  
                  this.m_node2.contact = null;
                  this.m_node2.prev = null;
                  this.m_node2.next = null;
                  this.m_node2.other = null;
                  //
  
                  // initialize instance variables for references
                  this.m0 = new b2Manifold();
                  this.m_manifold = [new b2Manifold()];
                  //
  
                  //super(shape1, shape2);
                  //b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_polyShape);
                  //b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_polyShape);
                  this.m_manifold[0].pointCount = 0;
          },
          //~b2PolyContact() {}
  
          // store temp manifold to reduce calls to new
          m0: new b2Manifold(),
  
          Evaluate: function(){
                  var tMani = this.m_manifold[0];
                  // replace memcpy
                  // memcpy(&this.m0, &this.m_manifold, sizeof(b2Manifold));
                  //this.m0.points = new Array(tMani.pointCount);
                  var tPoints = this.m0.points;
  
                  for (var k = 0; k < tMani.pointCount; k++){
                          var tPoint = tPoints[k];
                          var tPoint0 = tMani.points[k];
                          //tPoint.separation = tPoint0.separation;
                          tPoint.normalImpulse = tPoint0.normalImpulse;
                          tPoint.tangentImpulse = tPoint0.tangentImpulse;
                          //tPoint.position.SetV( tPoint0.position );
  
                          tPoint.id = tPoint0.id.Copy();
  
                          /*this.m0.points[k].id.features = new Features();
                          this.m0.points[k].id.features.referenceFace = this.m_manifold[0].points[k].id.features.referenceFace;
                          this.m0.points[k].id.features.incidentEdge = this.m_manifold[0].points[k].id.features.incidentEdge;
                          this.m0.points[k].id.features.incidentVertex = this.m_manifold[0].points[k].id.features.incidentVertex;
                          this.m0.points[k].id.features.flip = this.m_manifold[0].points[k].id.features.flip;*/
                  }
                  //this.m0.normal.SetV( tMani.normal );
                  this.m0.pointCount = tMani.pointCount;
  
                  b2Collision.b2CollidePoly(tMani, this.m_shape1, this.m_shape2, false);
  
                  // Match contact ids to facilitate warm starting.
                  if (tMani.pointCount > 0)
                  {
                          var match = [false, false];
  
                          // Match old contact ids to new contact ids and copy the
                          // stored impulses to warm start the solver.
                          for (var i = 0; i < tMani.pointCount; ++i)
                          {
                                  var cp = tMani.points[ i ];
  
                                  cp.normalImpulse = 0.0;
                                  cp.tangentImpulse = 0.0;
                                  var idKey = cp.id.key;
  
                                  for (var j = 0; j < this.m0.pointCount; ++j)
                                  {
  
                                          if (match[j] == true)
                                                  continue;
  
                                          var cp0 = this.m0.points[j];
                                          var id0 = cp0.id;
  
                                          if (id0.key == idKey)
                                          {
                                                  match[j] = true;
                                                  cp.normalImpulse = cp0.normalImpulse;
                                                  cp.tangentImpulse = cp0.tangentImpulse;
                                                  break;
                                          }
                                  }
                          }
  
                          this.m_manifoldCount = 1;
                  }
                  else
                  {
                          this.m_manifoldCount = 0;
                  }
          },
  
          GetManifolds: function()
          {
                  return this.m_manifold;
          },
  
          m_manifold: [new b2Manifold()]});
  
  b2PolyContact.Create = function(shape1, shape2, allocator){
                  //void* mem = allocator->Allocate(sizeof(b2PolyContact));
                  return new b2PolyContact(shape1, shape2);
          };
  b2PolyContact.Destroy = function(contact, allocator){
                  //((b2PolyContact*)contact)->~b2PolyContact();
                  //allocator->Free(contact, sizeof(b2PolyContact));
          };
  


(C) Æliens 20/2/2008

You may not copy or print any of this material without explicit permission of the author or the publisher. In case of other copyright issues, contact the author.