cannon/src/solver/SplitSolver.js

A lightweight 3D physics engine written in JavaScript.

module.exports = SplitSolver;

var Vec3 = require('../math/Vec3');
var Quaternion = require('../math/Quaternion');
var Solver = require('./Solver');
var Body = require('../objects/Body');

/**
 * Splits the equations into islands and solves them independently. Can improve performance.
 * @class SplitSolver
 * @constructor
 * @extends Solver
 * @param {Solver} subsolver
 */
function SplitSolver(subsolver){
    Solver.call(this);
    this.iterations = 10;
    this.tolerance = 1e-7;
    this.subsolver = subsolver;
    this.nodes = [];
    this.nodePool = [];

    // Create needed nodes, reuse if possible
    while(this.nodePool.length < 128){
        this.nodePool.push(this.createNode());
    }
}
SplitSolver.prototype = new Solver();

// Returns the number of subsystems
var SplitSolver_solve_nodes = []; // All allocated node objects
var SplitSolver_solve_nodePool = []; // All allocated node objects
var SplitSolver_solve_eqs = [];   // Temp array
var SplitSolver_solve_bds = [];   // Temp array
var SplitSolver_solve_dummyWorld = {bodies:[]}; // Temp object

var STATIC = Body.STATIC;
function getUnvisitedNode(nodes){
    var Nnodes = nodes.length;
    for(var i=0; i!==Nnodes; i++){
        var node = nodes[i];
        if(!node.visited && !(node.body.type & STATIC)){
            return node;
        }
    }
    return false;
}

var queue = [];
function bfs(root,visitFunc,bds,eqs){
    queue.push(root);
    root.visited = true;
    visitFunc(root,bds,eqs);
    while(queue.length) {
        var node = queue.pop();
        // Loop over unvisited child nodes
        var child;
        while((child = getUnvisitedNode(node.children))) {
            child.visited = true;
            visitFunc(child,bds,eqs);
            queue.push(child);
        }
    }
}

function visitFunc(node,bds,eqs){
    bds.push(node.body);
    var Neqs = node.eqs.length;
    for(var i=0; i!==Neqs; i++){
        var eq = node.eqs[i];
        if(eqs.indexOf(eq) === -1){
            eqs.push(eq);
        }
    }
}

SplitSolver.prototype.createNode = function(){
    return { body:null, children:[], eqs:[], visited:false };
};

/**
 * Solve the subsystems
 * @method solve
 * @param  {Number} dt
 * @param  {World} world
 */
SplitSolver.prototype.solve = function(dt,world){
    var nodes=SplitSolver_solve_nodes,
        nodePool=this.nodePool,
        bodies=world.bodies,
        equations=this.equations,
        Neq=equations.length,
        Nbodies=bodies.length,
        subsolver=this.subsolver;

    // Create needed nodes, reuse if possible
    while(nodePool.length < Nbodies){
        nodePool.push(this.createNode());
    }
    nodes.length = Nbodies;
    for (var i = 0; i < Nbodies; i++) {
        nodes[i] = nodePool[i];
    }

    // Reset node values
    for(var i=0; i!==Nbodies; i++){
        var node = nodes[i];
        node.body = bodies[i];
        node.children.length = 0;
        node.eqs.length = 0;
        node.visited = false;
    }
    for(var k=0; k!==Neq; k++){
        var eq=equations[k],
            i=bodies.indexOf(eq.bi),
            j=bodies.indexOf(eq.bj),
            ni=nodes[i],
            nj=nodes[j];
        ni.children.push(nj);
        ni.eqs.push(eq);
        nj.children.push(ni);
        nj.eqs.push(eq);
    }

    var child, n=0, eqs=SplitSolver_solve_eqs;

    subsolver.tolerance = this.tolerance;
    subsolver.iterations = this.iterations;

    var dummyWorld = SplitSolver_solve_dummyWorld;
    while((child = getUnvisitedNode(nodes))){
        eqs.length = 0;
        dummyWorld.bodies.length = 0;
        bfs(child, visitFunc, dummyWorld.bodies, eqs);

        var Neqs = eqs.length;

        eqs = eqs.sort(sortById);

        for(var i=0; i!==Neqs; i++){
            subsolver.addEquation(eqs[i]);
        }

        var iter = subsolver.solve(dt,dummyWorld);
        subsolver.removeAllEquations();
        n++;
    }

    return n;
};

function sortById(a, b){
    return b.id - a.id;
}