/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*
* Removing prototype dependency by piksel@mail.ru
*/
/**
* @class b2World
* @constructor
* @param worldAABB {b2AABB} axis aligned bounding box
* @param gravity {b2Vec2} gravity force vector
* @param doSleep {Boolean} bodies can sleep
*/
var b2World = function (worldAABB, gravity, doSleep) {
this.step = new b2TimeStep();
this.m_contactManager = new b2ContactManager();
this.m_listener = null;
this.m_filter = b2CollisionFilter.b2_defaultFilter;
this.m_bodyList = null;
this.m_contactList = null;
this.m_jointList = null;
this.m_bodyCount = 0;
this.m_contactCount = 0;
this.m_jointCount = 0;
this.m_bodyDestroyList = null;
this.m_allowSleep = doSleep;
this.m_gravity = gravity;
this.m_contactManager.m_world = this;
this.m_broadPhase = new b2BroadPhase(worldAABB, this.m_contactManager);
var bd = new b2BodyDef();
this.m_groundBody = this.CreateBody(bd);
};
b2World.prototype =
{
//~b2World(){
// this.DestroyBody(this.m_groundBody);
// delete this.m_broadPhase;
//}
// Set a callback to notify you when a joint is implicitly destroyed
// when an attached body is destroyed.
/**
* @method SetListener
*/
SetListener: function(listener){
this.m_listener = listener;
},
// Register a collision filter to provide specific control over collision.
// Otherwise the default filter is used (b2CollisionFilter).
/**
* @method SetFilter
*/
SetFilter: function(filter){
this.m_filter = filter;
},
// Create and destroy rigid bodies. Destruction is deferred until the
// the next call to this.Step. This is done so that bodies may be destroyed
// while you iterate through the contact list.
/**
* @method CreateBody
*/
CreateBody: function(def){
//void* mem = this.m_blockAllocator.Allocate(sizeof(b2Body));
var b = new b2Body(def, this);
b.m_prev = null;
b.m_next = this.m_bodyList;
if (this.m_bodyList)
{
this.m_bodyList.m_prev = b;
}
this.m_bodyList = b;
++this.m_bodyCount;
return b;
},
// Body destruction is deferred to make contact processing more robust.
/**
* @method DestroyBody
*/
DestroyBody: function(b)
{
if (b.m_flags & b2Body.e_destroyFlag)
{
return;
}
// Remove from normal body list.
if (b.m_prev)
{
b.m_prev.m_next = b.m_next;
}
if (b.m_next)
{
b.m_next.m_prev = b.m_prev;
}
if (b == this.m_bodyList)
{
this.m_bodyList = b.m_next;
}
b.m_flags |= b2Body.e_destroyFlag;
//b2Settings.b2Assert(this.m_bodyCount > 0);
--this.m_bodyCount;
//b->~b2Body();
//b.Destroy();
// Add to the deferred destruction list.
b.m_prev = null;
b.m_next = this.m_bodyDestroyList;
this.m_bodyDestroyList = b;
},
/**
* @method CleanBodyList
*/
CleanBodyList: function()
{
this.m_contactManager.m_destroyImmediate = true;
var b = this.m_bodyDestroyList;
while (b)
{
//b2Settings.b2Assert((b.m_flags & b2Body.e_destroyFlag) != 0);
// Preserve the next pointer.
var b0 = b;
b = b.m_next;
// Delete the attached joints
var jn = b0.m_jointList;
while (jn)
{
var jn0 = jn;
jn = jn.next;
if (this.m_listener)
{
this.m_listener.NotifyJointDestroyed(jn0.joint);
}
this.DestroyJoint(jn0.joint);
}
b0.Destroy();
//this.m_blockAllocator.Free(b0, sizeof(b2Body));
}
// Reset the list.
this.m_bodyDestroyList = null;
this.m_contactManager.m_destroyImmediate = false;
},
/**
* @method CreateJoint
*/
CreateJoint: function(def){
var j = b2Joint.Create(def, this.m_blockAllocator);
// Connect to the world list.
j.m_prev = null;
j.m_next = this.m_jointList;
if (this.m_jointList)
{
this.m_jointList.m_prev = j;
}
this.m_jointList = j;
++this.m_jointCount;
// Connect to the bodies
j.m_node1.joint = j;
j.m_node1.other = j.m_body2;
j.m_node1.prev = null;
j.m_node1.next = j.m_body1.m_jointList;
if (j.m_body1.m_jointList) j.m_body1.m_jointList.prev = j.m_node1;
j.m_body1.m_jointList = j.m_node1;
j.m_node2.joint = j;
j.m_node2.other = j.m_body1;
j.m_node2.prev = null;
j.m_node2.next = j.m_body2.m_jointList;
if (j.m_body2.m_jointList) j.m_body2.m_jointList.prev = j.m_node2;
j.m_body2.m_jointList = j.m_node2;
// If the joint prevents collisions, then reset collision filtering.
if (def.collideConnected == false)
{
// Reset the proxies on the body with the minimum number of shapes.
var b = def.body1.m_shapeCount < def.body2.m_shapeCount ? def.body1 : def.body2;
for (var s = b.m_shapeList; s; s = s.m_next)
{
s.ResetProxy(this.m_broadPhase);
}
}
return j;
},
/**
* @method DestroyJoint
*/
DestroyJoint: function(j)
{
var collideConnected = j.m_collideConnected;
// Remove from the world.
if (j.m_prev)
{
j.m_prev.m_next = j.m_next;
}
if (j.m_next)
{
j.m_next.m_prev = j.m_prev;
}
if (j == this.m_jointList)
{
this.m_jointList = j.m_next;
}
// Disconnect from island graph.
var body1 = j.m_body1;
var body2 = j.m_body2;
// Wake up touching bodies.
body1.WakeUp();
body2.WakeUp();
// Remove from body 1
if (j.m_node1.prev)
{
j.m_node1.prev.next = j.m_node1.next;
}
if (j.m_node1.next)
{
j.m_node1.next.prev = j.m_node1.prev;
}
if (j.m_node1 == body1.m_jointList)
{
body1.m_jointList = j.m_node1.next;
}
j.m_node1.prev = null;
j.m_node1.next = null;
// Remove from body 2
if (j.m_node2.prev)
{
j.m_node2.prev.next = j.m_node2.next;
}
if (j.m_node2.next)
{
j.m_node2.next.prev = j.m_node2.prev;
}
if (j.m_node2 == body2.m_jointList)
{
body2.m_jointList = j.m_node2.next;
}
j.m_node2.prev = null;
j.m_node2.next = null;
b2Joint.Destroy(j, this.m_blockAllocator);
//b2Settings.b2Assert(this.m_jointCount > 0);
--this.m_jointCount;
// If the joint prevents collisions, then reset collision filtering.
if (collideConnected == false)
{
// Reset the proxies on the body with the minimum number of shapes.
var b = body1.m_shapeCount < body2.m_shapeCount ? body1 : body2;
for (var s = b.m_shapeList; s; s = s.m_next)
{
s.ResetProxy(this.m_broadPhase);
}
}
},
// The world provides a single ground body with no collision shapes. You
// can use this to simplify the creation of joints.
/**
* @method GetGroundBody
*/
GetGroundBody: function(){
return this.m_groundBody;
},
step: new b2TimeStep(),
// this.Step
/**
* @method Step
*/
Step: function(dt, iterations){
var b;
var other;
this.step.dt = dt;
this.step.iterations = iterations;
if (dt > 0.0)
{
this.step.inv_dt = 1.0 / dt;
}
else
{
this.step.inv_dt = 0.0;
}
this.m_positionIterationCount = 0;
// Handle deferred contact destruction.
this.m_contactManager.CleanContactList();
// Handle deferred body destruction.
this.CleanBodyList();
// Update contacts.
this.m_contactManager.Collide();
// Size the island for the worst case.
var island = new b2Island(this.m_bodyCount, this.m_contactCount, this.m_jointCount, this.m_stackAllocator);
// Clear all the island flags.
for (b = this.m_bodyList; b != null; b = b.m_next)
{
b.m_flags &= ~b2Body.e_islandFlag;
}
for (var c = this.m_contactList; c != null; c = c.m_next)
{
c.m_flags &= ~b2Contact.e_islandFlag;
}
for (var j = this.m_jointList; j != null; j = j.m_next)
{
j.m_islandFlag = false;
}
// Build and simulate all awake islands.
var stackSize = this.m_bodyCount;
//var stack = (b2Body**)this.m_stackAllocator.Allocate(stackSize * sizeof(b2Body*));
var stack = new Array(this.m_bodyCount);
for (var k = 0; k < this.m_bodyCount; k++)
stack[k] = null;
for (var seed = this.m_bodyList; seed != null; seed = seed.m_next)
{
if (seed.m_flags & (b2Body.e_staticFlag | b2Body.e_islandFlag | b2Body.e_sleepFlag | b2Body.e_frozenFlag))
{
continue;
}
// Reset island and stack.
island.Clear();
var stackCount = 0;
stack[stackCount++] = seed;
seed.m_flags |= b2Body.e_islandFlag;;
// Perform a depth first search (DFS) on the constraint graph.
while (stackCount > 0)
{
// Grab the next body off the stack and add it to the island.
b = stack[--stackCount];
island.AddBody(b);
// Make sure the body is awake.
b.m_flags &= ~b2Body.e_sleepFlag;
// To keep islands, we don't
// propagate islands across static bodies.
if (b.m_flags & b2Body.e_staticFlag)
{
continue;
}
// Search all contacts connected to this body.
for (var cn = b.m_contactList; cn != null; cn = cn.next)
{
if (cn.contact.m_flags & b2Contact.e_islandFlag)
{
continue;
}
island.AddContact(cn.contact);
cn.contact.m_flags |= b2Contact.e_islandFlag;
other = cn.other;
if (other.m_flags & b2Body.e_islandFlag)
{
continue;
}
//b2Settings.b2Assert(stackCount < stackSize);
stack[stackCount++] = other;
other.m_flags |= b2Body.e_islandFlag;
}
// Search all joints connect to this body.
for (var jn = b.m_jointList; jn != null; jn = jn.next)
{
if (jn.joint.m_islandFlag == true)
{
continue;
}
island.AddJoint(jn.joint);
jn.joint.m_islandFlag = true;
other = jn.other;
if (other.m_flags & b2Body.e_islandFlag)
{
continue;
}
//b2Settings.b2Assert(stackCount < stackSize);
stack[stackCount++] = other;
other.m_flags |= b2Body.e_islandFlag;
}
}
island.Solve(this.step, this.m_gravity);
this.m_positionIterationCount = b2Math.b2Max(this.m_positionIterationCount, b2Island.m_positionIterationCount);
if (this.m_allowSleep)
{
island.UpdateSleep(dt);
}
// Post solve cleanup.
for (var i = 0; i < island.m_bodyCount; ++i)
{
// Allow static bodies to participate in other islands.
b = island.m_bodies[i];
if (b.m_flags & b2Body.e_staticFlag)
{
b.m_flags &= ~b2Body.e_islandFlag;
}
// Handle newly frozen bodies.
if (b.IsFrozen() && this.m_listener)
{
var response = this.m_listener.NotifyBoundaryViolated(b);
if (response == b2WorldListener.b2_destroyBody)
{
this.DestroyBody(b);
b = null;
island.m_bodies[i] = null;
}
}
}
}
this.m_broadPhase.Commit();
//this.m_stackAllocator.Free(stack);
},
// this.Query the world for all shapes that potentially overlap the
// provided AABB. You provide a shape pointer buffer of specified
// size. The number of shapes found is returned.
/**
* @method Query
*/
Query: function(aabb, shapes, maxCount){
//void** results = (void**)this.m_stackAllocator.Allocate(maxCount * sizeof(void*));
var results = new Array();
var count = this.m_broadPhase.QueryAABB(aabb, results, maxCount);
for (var i = 0; i < count; ++i)
{
shapes[i] = results[i];
}
//this.m_stackAllocator.Free(results);
return count;
},
// You can use these to iterate over all the bodies, joints, and contacts.
/**
* @method GetBodyList
*/
GetBodyList: function(){
return this.m_bodyList;
},
/**
* @method GetJointList
*/
GetJointList: function(){
return this.m_jointList;
},
/**
* @method GetContactList
*/
GetContactList: function(){
return this.m_contactList;
},
/**
* @method QueryPoint
* @param callback {Function}
* @param point {b2Vec2}
*/
QueryPoint : function (callback, point) {
var body, shape;
for (body = this.m_bodyList; body; body = body.m_next) {
for (shape = body.GetShapeList(); shape != null; shape = shape.GetNext()) {
if (shape.TestPoint(point)) {
callback(body);
}
}
}
},
/**
* @method DebugDraw
*/
DebugDraw : function () {
var item, shape;
this.ctx.clearRect(0, 0, this.ctx.width, this.ctx.height);
for (item = world.m_jointList; item; item = item.m_next) {
this._drawJoint(item);
}
for (item = world.m_bodyList; item; item = item.m_next) {
for (shape = item.GetShapeList(); shape != null; shape = shape.GetNext()) {
this._drawShape(shape);
}
}
},
/**
* @method SetDebugDraw
*/
SetDebugDraw : function (params) {
params = params || {};
this.ctx = params.ctx;
this.ctx.width = params.width;
this.ctx.height = params.height;
},
_drawJoint : function (joint) {
var b1 = joint.m_body1,
b2 = joint.m_body2,
x1 = b1.m_position,
x2 = b2.m_position,
p1 = joint.GetAnchor1(),
p2 = joint.GetAnchor2();
this.ctx.strokeStyle = '#ffffff';
this.ctx.beginPath();
switch (joint.m_type) {
case b2Joint.e_distanceJoint:
this.ctx.moveTo(p1.x, p1.y);
this.ctx.lineTo(p2.x, p2.y);
break;
case b2Joint.e_pulleyJoint:
// TODO
break;
default:
if (b1 == world.m_groundBody) {
this.ctx.moveTo(p1.x, p1.y);
this.ctx.lineTo(x2.x, x2.y);
}
else if (b2 == world.m_groundBody) {
this.ctx.moveTo(p1.x, p1.y);
this.ctx.lineTo(x1.x, x1.y);
}
else {
this.ctx.moveTo(x1.x, x1.y);
this.ctx.lineTo(p1.x, p1.y);
this.ctx.lineTo(x2.x, x2.y);
this.ctx.lineTo(p2.x, p2.y);
}
break;
}
this.ctx.stroke();
},
_drawShape : function (shape) {
var i, v, tV, pos, r, segments, theta, dtheta, d, ax;
this.ctx.strokeStyle = 'rgba(255,255,255,.75)';
this.ctx.fillStyle = 'rgba(255,255,255,.33)';
this.ctx.beginPath();
switch (shape.m_type) {
case b2Shape.e_circleShape:
pos = shape.m_position;
r = shape.m_radius;
segments = 16.0;
theta = 0.0;
dtheta = 2.0 * Math.PI / segments;
// draw circle
this.ctx.moveTo(pos.x + r, pos.y);
for (i = 0; i < segments; i++) {
d = new b2Vec2(r * Math.cos(theta), r * Math.sin(theta));
v = b2Math.AddVV(pos, d);
this.ctx.lineTo(v.x, v.y);
theta += dtheta;
}
this.ctx.lineTo(pos.x + r, pos.y);
// draw radius
this.ctx.moveTo(pos.x, pos.y);
ax = shape.m_R.col1;
pos = new b2Vec2(pos.x + r * ax.x, pos.y + r * ax.y);
this.ctx.lineTo(pos.x, pos.y);
break;
case b2Shape.e_polyShape:
tV = b2Math.AddVV(
shape.m_position,
b2Math.b2MulMV(shape.m_R, shape.m_vertices[0])
);
this.ctx.moveTo(tV.x, tV.y);
for (i = 0; i < shape.m_vertexCount; i++) {
v = b2Math.AddVV(
shape.m_position,
b2Math.b2MulMV(shape.m_R, shape.m_vertices[i])
);
this.ctx.lineTo(v.x, v.y);
}
this.ctx.lineTo(tV.x, tV.y);
break;
}
this.ctx.stroke();
this.ctx.fill();
},
//--------------- Internals Below -------------------
m_blockAllocator: null,
m_stackAllocator: null,
m_broadPhase: null,
m_contactManager: new b2ContactManager(),
/**
* @property m_bodyList
*/
m_bodyList: null,
/**
* @property m_contactList
*/
m_contactList: null,
/**
* @property m_jointList
*/
m_jointList: null,
m_bodyCount: 0,
m_contactCount: 0,
m_jointCount: 0,
// These bodies will be destroyed at the next time this.step.
m_bodyDestroyList: null,
m_gravity: null,
m_allowSleep: null,
m_groundBody: null,
m_listener: null,
m_filter: null,
m_positionIterationCount: 0
};
b2World.s_enablePositionCorrection = 1;
b2World.s_enableWarmStarting = 1;
