jshint fixes and docs

.jshintrc

@@ -1,7 +1,6 @@
 {
     // environments
     "node" : true,
-    "es5" : true,
     "browser" : true,
 
     // options

src/collision/ArrayCollisionMatrix.js

@@ -13,7 +13,7 @@ function ArrayCollisionMatrix() {
      * @type {Array}
      */
 	this.matrix = [];
-};
+}
 
 /**
  * Get an element

src/collision/GridBroadphase.js

@@ -1,8 +1,8 @@
 module.exports = GridBroadphase;
 
-var Broadphase = require('./Broadphase')
-,   Vec3 = require('../math/Vec3')
-,   Shape = require('../shapes/Shape')
+var Broadphase = require('./Broadphase');
+var Vec3 = require('../math/Vec3');
+var Shape = require('../shapes/Shape');
 
 /**
  * Axis aligned uniform grid broadphase.
@@ -35,7 +35,7 @@ function GridBroadphase(aabbMin,aabbMax,nx,ny,nz){
 		this.bins[i]=[];
 		this.binLengths[i]=0;
 	}
-};
+}
 GridBroadphase.prototype = new Broadphase();
 GridBroadphase.prototype.constructor = GridBroadphase;
 
@@ -107,12 +107,12 @@ GridBroadphase.prototype.collisionPairs = function(world,pairs1,pairs2){
 			yoff1 = ceil((y1 - ymin) * ymult),
 			zoff1 = ceil((z1 - zmin) * zmult);
 
-		if (xoff0 < 0) xoff0 = 0; else if (xoff0 >= nx) xoff0 = nx - 1;
-		if (yoff0 < 0) yoff0 = 0; else if (yoff0 >= ny) yoff0 = ny - 1;
-		if (zoff0 < 0) zoff0 = 0; else if (zoff0 >= nz) zoff0 = nz - 1;
-		if (xoff1 < 0) xoff1 = 0; else if (xoff1 >= nx) xoff1 = nx - 1;
-		if (yoff1 < 0) yoff1 = 0; else if (yoff1 >= ny) yoff1 = ny - 1;
-		if (zoff1 < 0) zoff1 = 0; else if (zoff1 >= nz) zoff1 = nz - 1;
+		if (xoff0 < 0) { xoff0 = 0; } else if (xoff0 >= nx) { xoff0 = nx - 1; }
+		if (yoff0 < 0) { yoff0 = 0; } else if (yoff0 >= ny) { yoff0 = ny - 1; }
+		if (zoff0 < 0) { zoff0 = 0; } else if (zoff0 >= nz) { zoff0 = nz - 1; }
+		if (xoff1 < 0) { xoff1 = 0; } else if (xoff1 >= nx) { xoff1 = nx - 1; }
+		if (yoff1 < 0) { yoff1 = 0; } else if (yoff1 >= ny) { yoff1 = ny - 1; }
+		if (zoff1 < 0) { zoff1 = 0; } else if (zoff1 >= nz) { zoff1 = nz - 1; }
 
 		xoff0 *= xstep;
 		yoff0 *= ystep;

src/collision/ObjectCollisionMatrix.js

@@ -13,7 +13,7 @@ function ObjectCollisionMatrix() {
      * @type {Object}
      */
 	this.matrix = {};
-};
+}
 
 /**
  * @method get

src/collision/SAPBroadphase.js

@@ -1,5 +1,5 @@
-var Shape = require('../shapes/Shape')
-,   Broadphase = require('../collision/Broadphase')
+var Shape = require('../shapes/Shape');
+var Broadphase = require('../collision/Broadphase');
 
 module.exports = SAPBroadphase;
 

src/equations/ContactEquation.js

@@ -1,8 +1,8 @@
 module.exports = ContactEquation;
 
-var Equation = require('./Equation')
-,   Vec3 = require('../math/Vec3')
-,   Mat3 = require('../math/Mat3')
+var Equation = require('./Equation');
+var Vec3 = require('../math/Vec3');
+var Mat3 = require('../math/Mat3');
 
 /**
  * Contact/non-penetration constraint equation
@@ -116,10 +116,16 @@ ContactEquation.prototype.computeB = function(h){
 
     var invIi_vmult_taui = ContactEquation_computeB_temp1;
     var invIj_vmult_tauj = ContactEquation_computeB_temp2;
-    if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(taui,invIi_vmult_taui);
-    else invIi_vmult_taui.set(0,0,0);
-    if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(tauj,invIj_vmult_tauj);
-    else invIj_vmult_tauj.set(0,0,0);
+    if(bi.invInertiaWorld){
+        bi.invInertiaWorld.vmult(taui,invIi_vmult_taui);
+    } else {
+        invIi_vmult_taui.set(0,0,0);
+    }
+    if(bj.invInertiaWorld){
+        bj.invInertiaWorld.vmult(tauj,invIj_vmult_tauj);
+    } else {
+        invIj_vmult_tauj.set(0,0,0);
+    }
 
     // Compute iteration
     var ePlusOne = this.restitution+1;

src/equations/FrictionEquation.js

@@ -1,8 +1,8 @@
 module.exports = FrictionEquation;
 
-var Equation = require('./Equation')
-,   Vec3 = require('../math/Vec3')
-,   Mat3 = require('../math/Mat3')
+var Equation = require('./Equation');
+var Vec3 = require('../math/Vec3');
+var Mat3 = require('../math/Mat3');
 
 /**
  * Constrains the slipping in a contact along a tangent
@@ -35,7 +35,7 @@ function FrictionEquation(bi,bj,slipForce){
 
     this.biInvInertiaTimesRixt =  new Vec3();
     this.bjInvInertiaTimesRjxt =  new Vec3();
-};
+}
 
 FrictionEquation.prototype = new Equation();
 FrictionEquation.prototype.constructor = FrictionEquation;
@@ -90,18 +90,18 @@ FrictionEquation.prototype.computeB = function(h){
     // And remember, this is a pure velocity constraint, g is always zero!
     var GA = this.jacobianElementA,
         GB = this.jacobianElementB;
-    t.negate(GA.spatial)
+    t.negate(GA.spatial);
     rixt.negate(GA.rotational);
     GB.spatial.copy(t);
     GB.rotational.copy(rjxt);
 
-    if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(taui,invIi_vmult_taui);
-    else invIi_vmult_taui.set(0,0,0);
-    if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(tauj,invIj_vmult_tauj);
-    else invIj_vmult_tauj.set(0,0,0);
+    if(bi.invInertiaWorld){ bi.invInertiaWorld.vmult(taui,invIi_vmult_taui); }
+    else { invIi_vmult_taui.set(0,0,0); }
+    if(bj.invInertiaWorld){ bj.invInertiaWorld.vmult(tauj,invIj_vmult_tauj); }
+    else { invIj_vmult_tauj.set(0,0,0); }
 
     var GW = this.computeGW();//vj.dot(t) - vi.dot(t) + wjxrj.dot(t) - wixri.dot(t), // eq. 40
-        GiMf = this.computeGiMf();//fj.dot(t)*invMassj - fi.dot(t)*invMassi + rjxt.dot(invIj_vmult_tauj) - rixt.dot(invIi_vmult_taui);
+    var GiMf = this.computeGiMf();//fj.dot(t)*invMassj - fi.dot(t)*invMassi + rjxt.dot(invIj_vmult_tauj) - rixt.dot(invIi_vmult_taui);
 
     // we do only want to constrain velocity, so g=0
     var B = - GW * b - h*GiMf;

src/equations/RotationalEquation.js

@@ -1,8 +1,8 @@
 module.exports = RotationalEquation;
 
-var Vec3 = require('../math/Vec3')
-,   Mat3 = require('../math/Mat3')
-,   Equation = require('./Equation')
+var Vec3 = require('../math/Vec3');
+var Mat3 = require('../math/Mat3');
+var Equation = require('./Equation');
 
 /**
  * Rotational constraint. Works to keep the local vectors orthogonal to each other.
@@ -28,7 +28,7 @@ function RotationalEquation(bodyA, bodyB){
 
     this.relVel = new Vec3();
     this.relForce = new Vec3();
-};
+}
 
 RotationalEquation.prototype = new Equation();
 RotationalEquation.prototype.constructor = RotationalEquation;

src/material/Material.js

@@ -14,6 +14,6 @@ function Material(name){
      */
     this.name = name;
     this.id = Material.idCounter++;
-};
+}
 
 Material.idCounter = 0;

src/math/JacobianElement.js

@@ -18,7 +18,7 @@ function JacobianElement(){
      * @property {Vec3} rotational
      */
     this.rotational = new Vec3();
-};
+}
 
 /**
  * Multiply with other JacobianElement

src/math/Mat3.js

@@ -1,6 +1,6 @@
 module.exports = Mat3;
 
-var Vec3 = require('./Vec3')
+var Vec3 = require('./Vec3');
 
 /**
  * A 3x3 matrix.
@@ -19,7 +19,7 @@ function Mat3(elements){
     } else {
         this.elements = [0,0,0,0,0,0,0,0,0];
     }
-};
+}
 
 /**
  * Sets the matrix to identity

src/math/Quaternion.js

@@ -1,6 +1,6 @@
 module.exports = Quaternion;
 
-var Vec3 = require('./Vec3')
+var Vec3 = require('./Vec3');
 
 /**
  * A Quaternion describes a rotation in 3D space. The Quaternion is mathematically defined as Q = x*i + y*j + z*k + w, where (i,j,k) are imaginary basis vectors. (x,y,z) can be seen as a vector related to the axis of rotation, while the real multiplier, w, is related to the amount of rotation.
@@ -33,7 +33,7 @@ function Quaternion(x,y,z,w){
      * @property {Number} w
      */
     this.w = w!==undefined ? w : 1;
-};
+}
 
 /**
  * Set the value of the quaternion.

src/objects/Body.js

@@ -14,6 +14,18 @@ var Box = require('../shapes/Box');
  * @class Body
  * @constructor
  * @extends EventTarget
+ * @param {object} [options]
+ * @param {Vec3} [options.position]
+ * @param {number} [options.mass]
+ * @param {number} [options.type]
+ * @param {number} [options.linearDamping]
+ * @example
+ *     var body = new Body({
+ *         mass: 1
+ *     });
+ *     var shape = new Sphere(1);
+ *     body.addShape(shape);
+ *     world.add(body);
  */
 function Body(options){
     options = options || {};
@@ -543,7 +555,7 @@ var uiw_m1 = new Mat3(),
  */
 Body.prototype.updateInertiaWorld = function(force){
     var I = this.invInertia;
-    if (I.x == I.y && I.y == I.z && !force) {
+    if (I.x === I.y && I.y === I.z && !force) {
         // If inertia M = s*I, where I is identity and s a scalar, then
         //    R*M*R' = R*(s*I)*R' = s*R*I*R' = s*R*R' = s*I = M
         // where R is the rotation matrix.

src/objects/SPHSystem.js

@@ -143,7 +143,7 @@ SPHSystem.prototype.update = function(){
             Pij = -neighbor.mass * (this.pressures[i] / (this.densities[i]*this.densities[i] + eps) + this.pressures[j] / (this.densities[j]*this.densities[j] + eps));
             this.gradw(r_vec, gradW);
             // Add to pressure acceleration
-            gradW.mult(Pij , gradW)
+            gradW.mult(Pij , gradW);
             a_pressure.vadd(gradW, a_pressure);
 
             // Viscosity contribution

src/objects/Spring.js

@@ -10,13 +10,13 @@ module.exports = Spring;
  * @param {Body} bodyA
  * @param {Body} bodyB
  * @param {Object} [options]
- * @param {number} options.restLength   A number > 0. Default: 1
- * @param {number} options.stiffness    A number >= 0. Default: 100
- * @param {number} options.damping      A number >= 0. Default: 1
- * @param {Array}  options.worldAnchorA Where to hook the spring to body A, in world coordinates.
- * @param {Array}  options.worldAnchorB
- * @param {Array}  options.localAnchorA Where to hook the spring to body A, in local body coordinates.
- * @param {Array}  options.localAnchorB
+ * @param {number} [options.restLength]   A number > 0. Default: 1
+ * @param {number} [options.stiffness]    A number >= 0. Default: 100
+ * @param {number} [options.damping]      A number >= 0. Default: 1
+ * @param {Vec3}  [options.worldAnchorA] Where to hook the spring to body A, in world coordinates.
+ * @param {Vec3}  [options.worldAnchorB]
+ * @param {Vec3}  [options.localAnchorA] Where to hook the spring to body A, in local body coordinates.
+ * @param {Vec3}  [options.localAnchorB]
  */
 function Spring(bodyA,bodyB,options){
     options = options || {};
@@ -70,15 +70,19 @@ function Spring(bodyA,bodyB,options){
      */
     this.localAnchorB = new Vec3();
 
-    if(options.localAnchorA) this.localAnchorA.set( options.localAnchorA.x,
-                                                    options.localAnchorA.y,
-                                                    options.localAnchorA.z);
-    if(options.localAnchorB) this.localAnchorB.set( options.localAnchorB.x,
-                                                    options.localAnchorB.y,
-                                                    options.localAnchorB.z);
-    if(options.worldAnchorA) this.setWorldAnchorA(options.worldAnchorA);
-    if(options.worldAnchorB) this.setWorldAnchorB(options.worldAnchorB);
-};
+    if(options.localAnchorA){
+        this.localAnchorA.copy(options.localAnchorA);
+    }
+    if(options.localAnchorB){
+        this.localAnchorB.copy(options.localAnchorB.x);
+    }
+    if(options.worldAnchorA){
+        this.setWorldAnchorA(options.worldAnchorA);
+    }
+    if(options.worldAnchorB){
+        this.setWorldAnchorB(options.worldAnchorB);
+    }
+}
 
 /**
  * Set the anchor point on body A, using world coordinates.

src/shapes/Box.js

@@ -1,8 +1,8 @@
 module.exports = Box;
 
-var Shape = require('./Shape')
-,   Vec3 = require('../math/Vec3')
-,   ConvexPolyhedron = require('./ConvexPolyhedron')
+var Shape = require('./Shape');
+var Vec3 = require('../math/Vec3');
+var ConvexPolyhedron = require('./ConvexPolyhedron');
 
 /**
  * A 3d box shape.
@@ -32,7 +32,7 @@ function Box(halfExtents){
 
     this.updateConvexPolyhedronRepresentation();
     this.updateBoundingSphereRadius();
-};
+}
 Box.prototype = new Shape();
 Box.prototype.constructor = Box;
 

src/shapes/ConvexPolyhedron.js

@@ -1,9 +1,9 @@
 module.exports = ConvexPolyhedron;
 
-var Shape = require('./Shape')
-,   Vec3 = require('../math/Vec3')
-,   Quaternion = require('../math/Quaternion')
-,   Transform = require('../math/Transform')
+var Shape = require('./Shape');
+var Vec3 = require('../math/Vec3');
+var Quaternion = require('../math/Quaternion');
+var Transform = require('../math/Transform');
 
 /**
  * A set of polygons describing a convex shape.
@@ -147,7 +147,7 @@ ConvexPolyhedron.prototype.computeNormals = function(){
         this.faceNormals[i] = n;
         var vertex = this.vertices[this.faces[i][0]];
         if(n.dot(vertex) < 0){
-            throw new Error(".faceNormals[" + i + "] = Vec3("+n.toString()+") looks like it points into the shape? The vertices follow. Make sure they are ordered CCW around the normal, using the right hand rule.");
+            console.error(".faceNormals[" + i + "] = Vec3("+n.toString()+") looks like it points into the shape? The vertices follow. Make sure they are ordered CCW around the normal, using the right hand rule.");
             for(var j=0; j<this.faces[i].length; j++){
                 console.warn(".vertices["+this.faces[i][j]+"] = Vec3("+this.vertices[this.faces[i][j]].toString()+")");
             }
@@ -592,8 +592,9 @@ ConvexPolyhedron.prototype.clipFaceAgainstPlane = function(inVertices,outVertice
     var n_dot_first, n_dot_last;
     var numVerts = inVertices.length;
 
-    if(numVerts < 2)
+    if(numVerts < 2){
         return outVertices;
+    }
 
     var firstVertex = inVertices[inVertices.length-1],
         lastVertex =   inVertices[0];

src/shapes/Shape.js

@@ -1,9 +1,9 @@
 module.exports = Shape;
 
-var Shape = require('./Shape')
-,   Vec3 = require('../math/Vec3')
-,   Quaternion = require('../math/Quaternion')
-,   Material = require('../material/Material')
+var Shape = require('./Shape');
+var Vec3 = require('../math/Vec3');
+var Quaternion = require('../math/Quaternion');
+var Material = require('../material/Material');
 
 /**
  * Base class for shapes

src/shapes/Sphere.js

@@ -1,7 +1,7 @@
 module.exports = Sphere;
 
-var Shape = require('./Shape')
-,   Vec3 = require('../math/Vec3')
+var Shape = require('./Shape');
+var Vec3 = require('../math/Vec3');
 
 /**
  * Spherical shape
@@ -21,7 +21,7 @@ function Sphere(radius){
     this.type = Shape.types.SPHERE;
 
     this.updateBoundingSphereRadius();
-};
+}
 Sphere.prototype = new Shape();
 Sphere.prototype.constructor = Sphere;