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Feature: Constraint support.
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Scope: Global
Description: addConstraint, removeConstraint, pauseConstraint and
resumeConstraint methods were added for Physics Constraint support.
Documentation soon.
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@dukuo
dukuo committed Mar 8, 2020
1 parent 4ed66ec commit 2c1ac59
Showing 1 changed file with 160 additions and 46 deletions.
206 changes: 160 additions & 46 deletions src/index.js
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Original file line number Diff line number Diff line change
Expand Up @@ -5,20 +5,21 @@ export default class Physar {
constructor( gravity ) {

// Spark related
this.Diagnostics = undefined;
this.Time = undefined;
this.currentInterval = undefined;
this.lastInterval = undefined;
this.lastTime = undefined;
this.fixedTimeStep = 1.0 / 60.0;
this.maxSubSteps = 3;
this.timeInterval = 5;

this.CANNON = undefined;
// this.world = undefined;
this.Diagnostics = undefined
this.Time = undefined
this.currentInterval = undefined
this.lastInterval = undefined
this.lastTime = undefined
this.fixedTimeStep = 1.0 / 60.0
this.maxSubSteps = 3
this.timeInterval = 5

this.C = undefined
// this.world = undefined

// World related
this.worldObjects = [];
this.worldObjects = []
this.worldConstraints = []

// Defaults
this.defaults = {
Expand All @@ -30,7 +31,7 @@ export default class Physar {
x: 0,
y: 0,
z: 0,
w: 0.5 // CANNON defaults to 1, don't really know why i'm setting it to 0.5 but we'll see.
w: 0.5 // C defaults to 1, don't really know why i'm setting it to 0.5 but we'll see.
},
position: {
x: 0,
Expand Down Expand Up @@ -65,19 +66,19 @@ export default class Physar {
}

this.initRequiredSparkModules()
this.createCannonWorld(gravity)
this.createCWorld(gravity)

}

initRequiredSparkModules() {
this.Time = require('Time')
this.CANNON = require('cannon')
this.C = require('cannon')
this.Diagnostics = require('Diagnostics')
}

createCannonWorld(g) {
this.world = new this.CANNON.World();
this.world.broadphase = new this.CANNON.NaiveBroadphase();
createCWorld(g) {
this.world = new this.C.World()
this.world.broadphase = new this.C.NaiveBroadphase()

this.world.gravity.set( g.x, g.y, g.z )
}
Expand All @@ -86,7 +87,7 @@ export default class Physar {
// Copy original state of worldObjects

this.initialWorldState = this.worldObjects
// Create time interval loop for cannon
// Create time interval loop for C
this.currentInterval = this.Time.setInterval(time => {
if(this.lastTime !== undefined) {
let deltaTime = (time - this.lastTime) / 1000
Expand Down Expand Up @@ -136,8 +137,8 @@ export default class Physar {
stopSync() {
if(this.currentInterval) {
this.Time.clearInterval(this.currentInterval)
this.lastInterval = currentInterval;
this.currentInterval = undefined;
this.lastInterval = currentInterval
this.currentInterval = undefined
}
this.resetWorldState()
}
Expand All @@ -146,7 +147,7 @@ export default class Physar {
if(!key)
return this.defaults
else
return this.defaults[key];
return this.defaults[key]
}

// Deep merge properties object filling missing values with defaults.
Expand Down Expand Up @@ -201,7 +202,7 @@ export default class Physar {
currentBody.quaternion = originalBody.quaternion
currentBody.position = originalBody.position

//Reset cannon object to original state
//Reset C object to original state


if(wObj.spark) {
Expand Down Expand Up @@ -247,22 +248,22 @@ export default class Physar {
const scale = transform.scale

const pos = transform.position
const position = new this.CANNON.Vec3(pos.x, pos.y, pos.z)
const position = new this.C.Vec3(pos.x, pos.y, pos.z)


const quaternion = new this.CANNON.Quaternion(rotation.x, rotation.y, rotation.z, rotation.w)
const quaternion = new this.C.Quaternion(rotation.x, rotation.y, rotation.z, rotation.w)

const buildShape = type => {
switch(type) {
case 'box':
return new this.CANNON.Box(new this.CANNON.Vec3(scale.x, scale.y, scale.z))
break;
return new this.C.Box(new this.C.Vec3(scale.x, scale.y, scale.z))
break
case 'sphere':
return new this.CANNON.Sphere(radius)
break;
return new this.C.Sphere(radius)
break
case 'ground':
return new this.CANNON.Plane()
break;
return new this.C.Plane()
break
}
}

Expand All @@ -286,19 +287,132 @@ export default class Physar {
}

const buildBody = (type) => {
const cBody = new this.CANNON.Body(buildProps(buildShape(type)))
const cBody = new this.C.Body(buildProps(buildShape(type)))
if( type == 'ground') {
// Rotate the ground so it is flat (facing upwards)
const angle = -Math.PI / 2;
const xAxis = new this.CANNON.Vec3(1, 0, 0);
cBody.quaternion.setFromAxisAngle(xAxis, angle);
const angle = -Math.PI / 2
const xAxis = new this.C.Vec3(1, 0, 0)
cBody.quaternion.setFromAxisAngle(xAxis, angle)
}
return cBody
}

const cannonObj = buildBody(type)
const CObj = buildBody(type)

this.addObjectToPhysicsWorld(cannonObj, spObj, sync, type == 'ground')
return this.addObjectToPhysicsWorld(CObj, spObj, sync, type == 'ground')
}

find(type = 'object' | 'constraint', id) {
if(type == 'object') return this.worldObjects.find( w => w.id == id )
if(type == 'constraint') return this.worldConstraints.find( c => c.id == id )
}
/*
{
bodyA: Body
bodyB: Body
pivotA: { x: 0, y: 0, z: 0 }
pivotB: { x: 0, y: 0, z: 0 }
axisA: { x: 0, y: 0, z: 0 }
axisB: { x: 0, y: 0, z: 0 }
collideConnected: Boolean
}
*/
createConstraint(type, params = {}) {

// We need at least two bodies to make a constraint.
if ( !params.bodyA || !params.bodyB) return

let { bodyA, bodyB, pivotA, pivotB, axisA, axisB } = params
const options = {
pivotA,
pivotB,
axisA,
axisB
}

const tempA = this.find('object', bodyA)
const tempB = this.find('object', bodyB)

if (!tempA || !tempB) return

let constraint
switch(type) {
case 'point':
constraint = new this.C.PointToPointConstraint(bodyA, pivotA, bodyB, pivotB)
break
case 'hinge':
constraint = new this.C.HingeConstraint(bodyA, bodyB, options)
break
case 'conetwist':
constraint = new this.C.ConeTwistConstraint(bodyA, bodyB, options)
break
case 'lock':
constraint = new this.C.LockConstraint(pivotA, pivotB, {})
break
default:
return
}

return this.addConstraint(constraint, tempA, tempB)
}

addConstraint(constraint, tempA, tempB) {

if(!tempA.body || !tempB.body) return undefined

const bodyA = tempA.body
const bodyB = tempB.body

this.world.addConstraint(constraint)

// bodyA and bodyB id concatenation with base64 encoding.
const id = btoa(`${bodyA.id}.${bodyB.id}`)

this.worldConstraints.push({
id,
constraint,
isActive = true
})

return id
}

removeConstraint(id, fullWipe = false) {
const c = this.find('constraint', id)

if(c) {
this.world.removeConstraint(c.constraint)
}

if(!!fullWipe) {
const idx = this.worldConstraints.indexOf(c)
this.worldConstraints.splice(idx, 1)
}

}

pauseConstraint(id) {
const c = this.find('constraint', id)

if(c) {
this.removeConstraint(id, false)
}

const idx = this.worldConstraints.indexOf(c)
this.worldConstraints[idx].isActive = false
}

resumeConstraint(id) {
const c = this.find('constraint', id)
const {id, constraint} = c

if(c && c.isActive == false) {

this.world.addConstraint(constraint)

const idx = this.worldConstraints.indexOf(c)
this.worldConstraints[idx].isActive = true
}
}

log(string) {
Expand All @@ -307,35 +421,35 @@ export default class Physar {


addObjectToPhysicsWorld(rbdBody, sparkObject, syncOptions, isGround) {
this.world.addBody(rbdBody);
this.world.addBody(rbdBody)
const sync = { ...this.getDefaults('sync'), ...syncOptions }

const id = generateUUID()

const newObject = {
id,
body: rbdBody,
spark: sparkObject,
sync,
isGround,
id
isGround
}

this.worldObjects.push(newObject);
this.worldObjects.push(newObject)

return newObject;
return id
}

createCannonMaterial(parameters) {
let material = undefined;
createCMaterial(parameters) {
let material = undefined

if (parameters == undefined) {
material = new this.CANNON.Material();
material = new this.C.Material()
}

return material
}

start() {
this.beginSync();
this.beginSync()
}
}

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