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<title>JSDoc: Source: phys2d/constraints/p2contact.js</title>
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<h1 class="page-title">Source: phys2d/constraints/p2contact.js</h1>
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<pre class="prettyprint source"><code>if (typeof define !== "function") {
var define = require("amdefine")(module);
}
define([
"odin/base/class",
"odin/math/mathf",
"odin/math/vec2",
"odin/phys2d/constraints/p2equation"
],
function(Class, Mathf, Vec2, P2Equation) {
"use strict";
/**
* @class P2Contact
* @extends P2Equation
* @brief 2d contact equation
*/
function P2Contact() {
P2Equation.call(this);
this.minForce = 0;
/**
* @property Vec2 p
* @memberof P2Contact
*/
this.p = new Vec2;
/**
* @property Vec2 n
* @memberof P2Contact
*/
this.n = new Vec2;
/**
* @property Number s
* @memberof P2Contact
*/
this.s = 0;
/**
* @property Number e
* @memberof P2Contact
*/
this.e = 1;
/**
* @property Number u
* @memberof P2Contact
*/
this.u = 1;
this.ri = new Vec2;
this.rj = new Vec2;
this.rixn = 0;
this.rjxn = 0;
}
Class.extend(P2Contact, P2Equation);
P2Contact.prototype.init = function(h) {
var bi = this.bi,
bj = this.bj,
p = this.p,
px = p.x,
py = p.y,
n = this.n,
nx = n.x,
ny = n.y,
xi = bi.position,
xj = bj.position,
ri = this.ri,
rix = px - xi.x,
riy = py - xi.y,
rj = this.rj,
rjx = px - xj.x,
rjy = py - xj.y,
rixn = rix * ny - riy * nx,
rjxn = rjx * ny - rjy * nx;
ri.x = rix;
ri.y = riy;
rj.x = rjx;
rj.y = rjy;
this.rixn = rixn;
this.rjxn = rjxn;
this.lambda = 0;
this.calculateB(h);
this.calculateC();
};
P2Contact.prototype.calculateB = function(h) {
var bi = this.bi,
bj = this.bj,
n = this.n,
nx = n.x,
ny = n.y,
vi = bi.velocity,
wi = bi.angularVelocity || 0,
fi = bi.force,
ti = bi.torque || 0,
invMi = bi.invMass,
invIi = bi.invInertia || 0,
vj = bj.velocity,
wj = bj.angularVelocity || 0,
fj = bj.force,
tj = bj.torque || 0,
invMj = bj.invMass,
invIj = bj.invInertia || 0,
ri = this.ri,
rix = ri.x,
riy = ri.y,
rj = this.rj,
rjx = rj.x,
rjy = rj.y,
e = this.e,
Gq = this.s,
GWx = vj.x + (-wj * rjy) - vi.x - (-wi * riy),
GWy = vj.y + (wj * rjx) - vi.y - (wi * rix),
GW = e * GWx * nx + e * GWy * ny,
GiMfx = fj.x * invMj + (-tj * invIj * rjy) - fi.x * invMi - (-ti * invIi * riy),
GiMfy = fj.y * invMj + (tj * invIj * rjx) - fi.y * invMi - (ti * invIi * rix),
GiMf = GiMfx * nx + GiMfy * ny;
this.B = -this.a * Gq - this.b * GW - h * GiMf;
};
P2Contact.prototype.calculateC = function() {
var bi = this.bi,
bj = this.bj,
rixn = this.rixn,
rjxn = this.rjxn,
invIi = bi.invInertia || 0,
invIj = bj.invInertia || 0,
C = bi.invMass + bj.invMass + this.eps + invIi * rixn * rixn + invIj * rjxn * rjxn;
this.invC = C === 0 ? 0 : 1 / C;
};
P2Contact.prototype.calculateGWlambda = function() {
var bi = this.bi,
bj = this.bj,
n = this.n,
vlambdai = bi.vlambda,
wlambdai = bi.wlambda || 0,
vlambdaj = bj.vlambda,
wlambdaj = bj.wlambda || 0,
ulambdax = vlambdaj.x - vlambdai.x,
ulambday = vlambdaj.y - vlambdai.y,
GWlambda = ulambdax * n.x + ulambday * n.y;
if (wlambdai !== undefined) GWlambda -= wlambdai * this.rixn;
if (wlambdaj !== undefined) GWlambda += wlambdaj * this.rjxn;
return GWlambda;
};
P2Contact.prototype.addToLambda = function(deltaLambda) {
var bi = this.bi,
bj = this.bj,
n = this.n,
nx = n.x,
ny = n.y,
invMi = bi.invMass,
vlambdai = bi.vlambda,
invMj = bj.invMass,
vlambdaj = bj.vlambda;
vlambdai.x -= deltaLambda * invMi * nx;
vlambdai.y -= deltaLambda * invMi * ny;
vlambdaj.x += deltaLambda * invMj * nx;
vlambdaj.y += deltaLambda * invMj * ny;
if (bi.wlambda !== undefined) bi.wlambda -= deltaLambda * bi.invInertia * this.rixn;
if (bj.wlambda !== undefined) bj.wlambda += deltaLambda * bj.invInertia * this.rjxn;
};
return P2Contact;
}
);
</code></pre>
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