Pull in changes from jbox2d

* Make velocityThreshold mutable - See jbox2d/jbox2d#1 * TimeOfImpact loop fixes - See jbox2d/jbox2d#36 * fix ropejoint pool leak bug - See jbox2d/jbox2d#59
google · Dec 7, 2017 · a480df1 · a480df1
2 parents 76a37c9 + 6aac893
commit a480df1
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Showing 4 changed files with 12 additions and 19 deletions.
diff --git a/lib/src/collision/time_of_impact.dart b/lib/src/collision/time_of_impact.dart
@@ -59,7 +59,8 @@ class TOIOutput {
  * @author daniel
  */
 class TimeOfImpact {
-  static const int MAX_ITERATIONS = 1000;
+  static const int MAX_ITERATIONS = 20;
+  static const int MAX_ROOT_ITERATIONS = 50;
 
   static int toiCalls = 0;
   static int toiIters = 0;
@@ -227,6 +228,9 @@ class TimeOfImpact {
             t = 0.5 * (a1 + a2);
           }
 
+          ++rootIterCount;
+          ++toiRootIters;
+
           double s = _fcn.evaluate(_indexes[0], _indexes[1], t);
 
           if ((s - target).abs() < tolerance) {
@@ -244,11 +248,7 @@ class TimeOfImpact {
             s2 = s;
           }
 
-          ++rootIterCount;
-          ++toiRootIters;
-
-          // djm: whats with this? put in settings?
-          if (rootIterCount == 50) {
+          if (rootIterCount == MAX_ROOT_ITERATIONS) {
             break;
           }
         }
@@ -257,7 +257,8 @@ class TimeOfImpact {
 
         ++pushBackIter;
 
-        if (pushBackIter == Settings.maxPolygonVertices) {
+        if (pushBackIter == Settings.maxPolygonVertices ||
+            rootIterCount == MAX_ROOT_ITERATIONS) {
           break;
         }
       }
@@ -490,10 +491,6 @@ class SeparationFunction {
 
     switch (type) {
       case SeparationFunctionType.POINTS:
-        Rot.mulTransUnsafeVec2(_xfa.q, axis, _axisA);
-        Rot.mulTransUnsafeVec2(_xfb.q, axis..negate(), _axisB);
-        axis.negate();
-
         _localPointA.setFrom(proxyA.getVertex(indexA));
         _localPointB.setFrom(proxyB.getVertex(indexB));
 
@@ -507,9 +504,6 @@ class SeparationFunction {
         Rot.mulToOutUnsafe(_xfa.q, axis, _normal);
         Transform.mulToOutUnsafeVec2(_xfa, localPoint, _pointA);
 
-        Rot.mulTransUnsafeVec2(_xfb.q, _normal..negate(), _axisB);
-        _normal.negate();
-
         _localPointB.setFrom(proxyB.getVertex(indexB));
         Transform.mulToOutUnsafeVec2(_xfb, _localPointB, _pointB);
         double separation = (_pointB..sub(_pointA)).dot(_normal);
@@ -519,9 +513,6 @@ class SeparationFunction {
         Rot.mulToOutUnsafe(_xfb.q, axis, _normal);
         Transform.mulToOutUnsafeVec2(_xfb, localPoint, _pointB);
 
-        Rot.mulTransUnsafeVec2(_xfa.q, _normal..negate(), _axisA);
-        _normal.negate();
-
         _localPointA.setFrom(proxyA.getVertex(indexA));
         Transform.mulToOutUnsafeVec2(_xfa, _localPointA, _pointA);
 

diff --git a/lib/src/common/sweep.dart b/lib/src/common/sweep.dart
@@ -26,7 +26,7 @@ part of box2d.common;
 
 /**
  * This describes the motion of a body/shape for TOI computation. Shapes are defined with respect to
- * the body origin, which may no coincide with the center of mass. However, to support dynamics we
+ * the body origin, which may not coincide with the center of mass. However, to support dynamics we
  * must interpolate the center of mass position.
  */
 class Sweep {

diff --git a/lib/src/dynamics/joints/rope_joint.dart b/lib/src/dynamics/joints/rope_joint.dart
@@ -125,6 +125,8 @@ class RopeJoint extends Joint {
       _u.setZero();
       _mass = 0.0;
       _impulse = 0.0;
+      pool.pushRot(2);
+      pool.pushVec2(1);
       return;
     }
 

diff --git a/lib/src/settings.dart b/lib/src/settings.dart
@@ -88,7 +88,7 @@ const int maxTOIContacts = 32;
  * A velocity threshold for elastic collisions. Any collision with a relative linear velocity
  * below this threshold will be treated as inelastic.
  */
-const double velocityThreshold = 1.0;
+double velocityThreshold = 1.0;
 
 /**
  * The maximum linear position correction used when solving constraints. This helps to prevent