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@schteppe
schteppe committed Mar 10, 2013
1 parent 0a755ab commit 65c40c7
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3 changes: 2 additions & 1 deletion .jshintignore
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Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,5 @@ demos
libs
node_modules
test
utils
utils
Gruntfile.js
117 changes: 55 additions & 62 deletions build/cannon.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1708,36 +1708,34 @@ CANNON.Box.prototype.updateConvexPolyhedronRepresentation = function(){
var sz = this.halfExtents.z;
var V = CANNON.Vec3;


function createBoxPolyhedron(size){
size = size || 1;
var vertices = [new CANNON.Vec3(-size,-size,-size),
new CANNON.Vec3( size,-size,-size),
new CANNON.Vec3( size, size,-size),
new CANNON.Vec3(-size, size,-size),
new CANNON.Vec3(-size,-size, size),
new CANNON.Vec3( size,-size, size),
new CANNON.Vec3( size, size, size),
new CANNON.Vec3(-size, size, size)];
var faces =[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
];
var faceNormals = [new CANNON.Vec3( 0, 0,-1),
new CANNON.Vec3( 0, 0, 1),
new CANNON.Vec3( 0,-1, 0),
new CANNON.Vec3( 0, 1, 0),
new CANNON.Vec3(-1, 0, 0),
new CANNON.Vec3( 1, 0, 0)];
var boxShape = new CANNON.ConvexPolyhedron(vertices,
faces,
faceNormals);
return boxShape;
}

function createBoxPolyhedron(size){
size = size || 1;
var vertices = [new CANNON.Vec3(-size,-size,-size),
new CANNON.Vec3( size,-size,-size),
new CANNON.Vec3( size, size,-size),
new CANNON.Vec3(-size, size,-size),
new CANNON.Vec3(-size,-size, size),
new CANNON.Vec3( size,-size, size),
new CANNON.Vec3( size, size, size),
new CANNON.Vec3(-size, size, size)];
var faces =[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
];
var faceNormals = [new CANNON.Vec3( 0, 0,-1),
new CANNON.Vec3( 0, 0, 1),
new CANNON.Vec3( 0,-1, 0),
new CANNON.Vec3( 0, 1, 0),
new CANNON.Vec3(-1, 0, 0),
new CANNON.Vec3( 1, 0, 0)];
var boxShape = new CANNON.ConvexPolyhedron(vertices,
faces,
faceNormals);
return boxShape;
}

var h = new CANNON.ConvexPolyhedron([new V(-sx,-sy,-sz),
new V( sx,-sy,-sz),
Expand All @@ -1748,18 +1746,12 @@ CANNON.Box.prototype.updateConvexPolyhedronRepresentation = function(){
new V( sx, sy, sz),
new V(-sx, sy, sz)],
[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
]/*[[0,1,2,3], // -z
[4,5,6,7], // +z
[0,1,5,4], // -y
[2,3,7,6], // +y
[0,3,7,4], // -x
[1,2,6,5], // +x
]*/,
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3], // -x
[1,2,5,6], // +x
],
[new V( 0, 0,-1),
new V( 0, 0, 1),
new V( 0,-1, 0),
Expand Down Expand Up @@ -1907,16 +1899,17 @@ CANNON.Plane.prototype.calculateWorldAABB = function(pos,quat,min,max){
min.set(-Infinity,-Infinity,-Infinity);
max.set(Infinity,Infinity,Infinity);

if(tempNormal.x === 1) max.x = pos.x;
if(tempNormal.y === 1) max.y = pos.y;
if(tempNormal.z === 1) max.z = pos.z;
if(tempNormal.x === 1){ max.x = pos.x; }
if(tempNormal.y === 1){ max.y = pos.y; }
if(tempNormal.z === 1){ max.z = pos.z; }

if(tempNormal.x === -1) min.x = pos.x;
if(tempNormal.y === -1) min.y = pos.y;
if(tempNormal.z === -1) min.z = pos.z;
if(tempNormal.x === -1){ min.x = pos.x; }
if(tempNormal.y === -1){ min.y = pos.y; }
if(tempNormal.z === -1){ min.z = pos.z; }

};


/**
* @class CANNON.Compound
* @extends CANNON.Shape
Expand Down Expand Up @@ -3170,11 +3163,11 @@ CANNON.Broadphase.prototype.doBoundingBoxBroadphase = function(bi,bj,pairs1,pair

if(bishape && bjshape){
// Check AABB / AABB
if( !( bi.aabbmax.x < bj.aabbmin.x ||
bi.aabbmax.y < bj.aabbmin.y ||
bi.aabbmax.z < bj.aabbmin.z ||
bi.aabbmin.x > bj.aabbmax.x ||
bi.aabbmin.y > bj.aabbmax.y ||
if( !( bi.aabbmax.x < bj.aabbmin.x ||
bi.aabbmax.y < bj.aabbmin.y ||
bi.aabbmax.z < bj.aabbmin.z ||
bi.aabbmin.x > bj.aabbmax.x ||
bi.aabbmin.y > bj.aabbmax.y ||
bi.aabbmin.z > bj.aabbmax.z ) ){
pairs1.push(bi);
pairs2.push(bj);
Expand All @@ -3192,11 +3185,11 @@ CANNON.Broadphase.prototype.doBoundingBoxBroadphase = function(bi,bj,pairs1,pair
//console.log(p.position.z+"<"+other.aabbmin.z+" = ",p.position.z < other.aabbmin.z);
}

if( !( p.position.x < other.aabbmin.x ||
p.position.y < other.aabbmin.y ||
p.position.z < other.aabbmin.z ||
p.position.x > other.aabbmax.x ||
p.position.y > other.aabbmax.y ||
if( !( p.position.x < other.aabbmin.x ||
p.position.y < other.aabbmin.y ||
p.position.z < other.aabbmin.z ||
p.position.x > other.aabbmax.x ||
p.position.y > other.aabbmax.y ||
p.position.z > other.aabbmax.z ) ){
pairs1.push(bi);
pairs2.push(bj);
Expand Down Expand Up @@ -3266,7 +3259,7 @@ CANNON.NaiveBroadphase.prototype.collisionPairs = function(world,pairs1,pairs2){
// Naive N^2 ftw!
for(i=0; i!==n; i++){
for(j=0; j!==i; j++){

bi = bodies[i];
bj = bodies[j];

Expand Down Expand Up @@ -3512,6 +3505,7 @@ var GSSolver_solve_Bs = [];
CANNON.GSSolver.prototype.solve = function(dt,world){
var d = this.d,
ks = this.k,
iter = 0,
maxIter = this.iterations,
tolSquared = this.tolerance*this.tolerance,
a = this.a,
Expand Down Expand Up @@ -3556,7 +3550,7 @@ CANNON.GSSolver.prototype.solve = function(dt,world){
}

// Iterate over equations
for(var iter=0; iter!==maxIter; iter++){
for(iter=0; iter!==maxIter; iter++){

// Accumulate the total error for each iteration.
deltalambdaTot = 0.0;
Expand Down Expand Up @@ -5191,7 +5185,6 @@ CANNON.ContactGenerator = function(){

// Construct world face vertices
var verts = [ sj.worldVertices[ sj.faces[i][0] ] ];

var normal = sj.worldFaceNormals[i];

// Check how much the particle penetrates the polygon plane.
Expand Down Expand Up @@ -5750,7 +5743,7 @@ CANNON.ContactEquation.prototype.addToWlambda = function(deltalambda){
bi.vlambda.vsub(temp2,bi.vlambda);
n.mult(invMassj * deltalambda, temp2);
bj.vlambda.vadd(temp2,bj.vlambda);

// Add to angular velocity
if(bi.wlambda !== undefined){
this.biInvInertiaTimesRixn.mult(deltalambda,temp1);
Expand Down Expand Up @@ -5814,7 +5807,7 @@ CANNON.FrictionEquation.prototype.computeB = function(h){
wjxrj = this.wjxrj,
zero = FrictionEquation_computeB_zero;

vi = bi.velocity,
var vi = bi.velocity,
wi = bi.angularVelocity ? bi.angularVelocity : zero,
fi = bi.force,
taui = bi.tau ? bi.tau : zero,
Expand Down
4 changes: 2 additions & 2 deletions build/cannon.min.js
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Large diffs are not rendered by default.

20 changes: 10 additions & 10 deletions src/collision/Broadphase.js
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Original file line number Diff line number Diff line change
Expand Up @@ -191,11 +191,11 @@ CANNON.Broadphase.prototype.doBoundingBoxBroadphase = function(bi,bj,pairs1,pair

if(bishape && bjshape){
// Check AABB / AABB
if( !( bi.aabbmax.x < bj.aabbmin.x ||
bi.aabbmax.y < bj.aabbmin.y ||
bi.aabbmax.z < bj.aabbmin.z ||
bi.aabbmin.x > bj.aabbmax.x ||
bi.aabbmin.y > bj.aabbmax.y ||
if( !( bi.aabbmax.x < bj.aabbmin.x ||
bi.aabbmax.y < bj.aabbmin.y ||
bi.aabbmax.z < bj.aabbmin.z ||
bi.aabbmin.x > bj.aabbmax.x ||
bi.aabbmin.y > bj.aabbmax.y ||
bi.aabbmin.z > bj.aabbmax.z ) ){
pairs1.push(bi);
pairs2.push(bj);
Expand All @@ -213,11 +213,11 @@ CANNON.Broadphase.prototype.doBoundingBoxBroadphase = function(bi,bj,pairs1,pair
//console.log(p.position.z+"<"+other.aabbmin.z+" = ",p.position.z < other.aabbmin.z);
}

if( !( p.position.x < other.aabbmin.x ||
p.position.y < other.aabbmin.y ||
p.position.z < other.aabbmin.z ||
p.position.x > other.aabbmax.x ||
p.position.y > other.aabbmax.y ||
if( !( p.position.x < other.aabbmin.x ||
p.position.y < other.aabbmin.y ||
p.position.z < other.aabbmin.z ||
p.position.x > other.aabbmax.x ||
p.position.y > other.aabbmax.y ||
p.position.z > other.aabbmax.z ) ){
pairs1.push(bi);
pairs2.push(bj);
Expand Down
2 changes: 1 addition & 1 deletion src/collision/NaiveBroadphase.js
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ CANNON.NaiveBroadphase.prototype.collisionPairs = function(world,pairs1,pairs2){
// Naive N^2 ftw!
for(i=0; i!==n; i++){
for(j=0; j!==i; j++){

bi = bodies[i];
bj = bodies[j];

Expand Down
2 changes: 1 addition & 1 deletion src/constraints/ContactEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -194,7 +194,7 @@ CANNON.ContactEquation.prototype.addToWlambda = function(deltalambda){
bi.vlambda.vsub(temp2,bi.vlambda);
n.mult(invMassj * deltalambda, temp2);
bj.vlambda.vadd(temp2,bj.vlambda);

// Add to angular velocity
if(bi.wlambda !== undefined){
this.biInvInertiaTimesRixn.mult(deltalambda,temp1);
Expand Down
2 changes: 1 addition & 1 deletion src/constraints/FrictionEquation.js
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ CANNON.FrictionEquation.prototype.computeB = function(h){
wjxrj = this.wjxrj,
zero = FrictionEquation_computeB_zero;

vi = bi.velocity,
var vi = bi.velocity,
wi = bi.angularVelocity ? bi.angularVelocity : zero,
fi = bi.force,
taui = bi.tau ? bi.tau : zero,
Expand Down
74 changes: 33 additions & 41 deletions src/objects/Box.js
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Original file line number Diff line number Diff line change
Expand Up @@ -38,36 +38,34 @@ CANNON.Box.prototype.updateConvexPolyhedronRepresentation = function(){
var sz = this.halfExtents.z;
var V = CANNON.Vec3;


function createBoxPolyhedron(size){
size = size || 1;
var vertices = [new CANNON.Vec3(-size,-size,-size),
new CANNON.Vec3( size,-size,-size),
new CANNON.Vec3( size, size,-size),
new CANNON.Vec3(-size, size,-size),
new CANNON.Vec3(-size,-size, size),
new CANNON.Vec3( size,-size, size),
new CANNON.Vec3( size, size, size),
new CANNON.Vec3(-size, size, size)];
var faces =[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
];
var faceNormals = [new CANNON.Vec3( 0, 0,-1),
new CANNON.Vec3( 0, 0, 1),
new CANNON.Vec3( 0,-1, 0),
new CANNON.Vec3( 0, 1, 0),
new CANNON.Vec3(-1, 0, 0),
new CANNON.Vec3( 1, 0, 0)];
var boxShape = new CANNON.ConvexPolyhedron(vertices,
faces,
faceNormals);
return boxShape;
}

function createBoxPolyhedron(size){
size = size || 1;
var vertices = [new CANNON.Vec3(-size,-size,-size),
new CANNON.Vec3( size,-size,-size),
new CANNON.Vec3( size, size,-size),
new CANNON.Vec3(-size, size,-size),
new CANNON.Vec3(-size,-size, size),
new CANNON.Vec3( size,-size, size),
new CANNON.Vec3( size, size, size),
new CANNON.Vec3(-size, size, size)];
var faces =[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
];
var faceNormals = [new CANNON.Vec3( 0, 0,-1),
new CANNON.Vec3( 0, 0, 1),
new CANNON.Vec3( 0,-1, 0),
new CANNON.Vec3( 0, 1, 0),
new CANNON.Vec3(-1, 0, 0),
new CANNON.Vec3( 1, 0, 0)];
var boxShape = new CANNON.ConvexPolyhedron(vertices,
faces,
faceNormals);
return boxShape;
}

var h = new CANNON.ConvexPolyhedron([new V(-sx,-sy,-sz),
new V( sx,-sy,-sz),
Expand All @@ -78,18 +76,12 @@ CANNON.Box.prototype.updateConvexPolyhedronRepresentation = function(){
new V( sx, sy, sz),
new V(-sx, sy, sz)],
[[3,2,1,0], // -z
[4,5,6,7], // +z
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3 /*0,3,4,7*/ ], // -x
[1,2,5,6], // +x
]/*[[0,1,2,3], // -z
[4,5,6,7], // +z
[0,1,5,4], // -y
[2,3,7,6], // +y
[0,3,7,4], // -x
[1,2,6,5], // +x
]*/,
[5,4,1,0], // -y
[2,3,6,7], // +y
[0,4,7,3], // -x
[1,2,5,6], // +x
],
[new V( 0, 0,-1),
new V( 0, 0, 1),
new V( 0,-1, 0),
Expand Down
14 changes: 7 additions & 7 deletions src/objects/Plane.js
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,12 @@ CANNON.Plane.prototype.calculateWorldAABB = function(pos,quat,min,max){
min.set(-Infinity,-Infinity,-Infinity);
max.set(Infinity,Infinity,Infinity);

if(tempNormal.x === 1) max.x = pos.x;
if(tempNormal.y === 1) max.y = pos.y;
if(tempNormal.z === 1) max.z = pos.z;
if(tempNormal.x === 1){ max.x = pos.x; }
if(tempNormal.y === 1){ max.y = pos.y; }
if(tempNormal.z === 1){ max.z = pos.z; }

if(tempNormal.x === -1) min.x = pos.x;
if(tempNormal.y === -1) min.y = pos.y;
if(tempNormal.z === -1) min.z = pos.z;
if(tempNormal.x === -1){ min.x = pos.x; }
if(tempNormal.y === -1){ min.y = pos.y; }
if(tempNormal.z === -1){ min.z = pos.z; }

};
};
3 changes: 2 additions & 1 deletion src/solver/GSSolver.js
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ var GSSolver_solve_Bs = [];
CANNON.GSSolver.prototype.solve = function(dt,world){
var d = this.d,
ks = this.k,
iter = 0,
maxIter = this.iterations,
tolSquared = this.tolerance*this.tolerance,
a = this.a,
Expand Down Expand Up @@ -75,7 +76,7 @@ CANNON.GSSolver.prototype.solve = function(dt,world){
}

// Iterate over equations
for(var iter=0; iter!==maxIter; iter++){
for(iter=0; iter!==maxIter; iter++){

// Accumulate the total error for each iteration.
deltalambdaTot = 0.0;
Expand Down

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