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aframe-physics-system.v1.4.0.js
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aframe-physics-system.v1.4.0.js
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(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
require('./').registerAll();
},{"./":2}],2:[function(require,module,exports){
var CANNON = require('cannon'),
math = require('./src/components/math');
module.exports = {
'dynamic-body': require('./src/components/body/dynamic-body'),
'static-body': require('./src/components/body/static-body'),
'constraint': require('./src/components/constraint'),
'system': require('./src/system/physics'),
registerAll: function (AFRAME) {
if (this._registered) return;
AFRAME = AFRAME || window.AFRAME;
math.registerAll();
if (!AFRAME.systems.physics) AFRAME.registerSystem('physics', this.system);
if (!AFRAME.components['dynamic-body']) AFRAME.registerComponent('dynamic-body', this['dynamic-body']);
if (!AFRAME.components['static-body']) AFRAME.registerComponent('static-body', this['static-body']);
if (!AFRAME.components['constraint']) AFRAME.registerComponent('constraint', this['constraint']);
this._registered = true;
}
};
// Export CANNON.js.
window.CANNON = window.CANNON || CANNON;
},{"./src/components/body/dynamic-body":62,"./src/components/body/static-body":63,"./src/components/constraint":64,"./src/components/math":65,"./src/system/physics":69,"cannon":5}],3:[function(require,module,exports){
/**
* CANNON.shape2mesh
*
* Source: http://schteppe.github.io/cannon.js/build/cannon.demo.js
* Author: @schteppe
*/
var CANNON = require('cannon');
CANNON.shape2mesh = function(body){
var obj = new THREE.Object3D();
for (var l = 0; l < body.shapes.length; l++) {
var shape = body.shapes[l];
var mesh;
switch(shape.type){
case CANNON.Shape.types.SPHERE:
var sphere_geometry = new THREE.SphereGeometry( shape.radius, 8, 8);
mesh = new THREE.Mesh( sphere_geometry, this.currentMaterial );
break;
case CANNON.Shape.types.PARTICLE:
mesh = new THREE.Mesh( this.particleGeo, this.particleMaterial );
var s = this.settings;
mesh.scale.set(s.particleSize,s.particleSize,s.particleSize);
break;
case CANNON.Shape.types.PLANE:
var geometry = new THREE.PlaneGeometry(10, 10, 4, 4);
mesh = new THREE.Object3D();
var submesh = new THREE.Object3D();
var ground = new THREE.Mesh( geometry, this.currentMaterial );
ground.scale.set(100, 100, 100);
submesh.add(ground);
ground.castShadow = true;
ground.receiveShadow = true;
mesh.add(submesh);
break;
case CANNON.Shape.types.BOX:
var box_geometry = new THREE.BoxGeometry( shape.halfExtents.x*2,
shape.halfExtents.y*2,
shape.halfExtents.z*2 );
mesh = new THREE.Mesh( box_geometry, this.currentMaterial );
break;
case CANNON.Shape.types.CONVEXPOLYHEDRON:
var geo = new THREE.Geometry();
// Add vertices
for (var i = 0; i < shape.vertices.length; i++) {
var v = shape.vertices[i];
geo.vertices.push(new THREE.Vector3(v.x, v.y, v.z));
}
for(var i=0; i < shape.faces.length; i++){
var face = shape.faces[i];
// add triangles
var a = face[0];
for (var j = 1; j < face.length - 1; j++) {
var b = face[j];
var c = face[j + 1];
geo.faces.push(new THREE.Face3(a, b, c));
}
}
geo.computeBoundingSphere();
geo.computeFaceNormals();
mesh = new THREE.Mesh( geo, this.currentMaterial );
break;
case CANNON.Shape.types.HEIGHTFIELD:
var geometry = new THREE.Geometry();
var v0 = new CANNON.Vec3();
var v1 = new CANNON.Vec3();
var v2 = new CANNON.Vec3();
for (var xi = 0; xi < shape.data.length - 1; xi++) {
for (var yi = 0; yi < shape.data[xi].length - 1; yi++) {
for (var k = 0; k < 2; k++) {
shape.getConvexTrianglePillar(xi, yi, k===0);
v0.copy(shape.pillarConvex.vertices[0]);
v1.copy(shape.pillarConvex.vertices[1]);
v2.copy(shape.pillarConvex.vertices[2]);
v0.vadd(shape.pillarOffset, v0);
v1.vadd(shape.pillarOffset, v1);
v2.vadd(shape.pillarOffset, v2);
geometry.vertices.push(
new THREE.Vector3(v0.x, v0.y, v0.z),
new THREE.Vector3(v1.x, v1.y, v1.z),
new THREE.Vector3(v2.x, v2.y, v2.z)
);
var i = geometry.vertices.length - 3;
geometry.faces.push(new THREE.Face3(i, i+1, i+2));
}
}
}
geometry.computeBoundingSphere();
geometry.computeFaceNormals();
mesh = new THREE.Mesh(geometry, this.currentMaterial);
break;
case CANNON.Shape.types.TRIMESH:
var geometry = new THREE.Geometry();
var v0 = new CANNON.Vec3();
var v1 = new CANNON.Vec3();
var v2 = new CANNON.Vec3();
for (var i = 0; i < shape.indices.length / 3; i++) {
shape.getTriangleVertices(i, v0, v1, v2);
geometry.vertices.push(
new THREE.Vector3(v0.x, v0.y, v0.z),
new THREE.Vector3(v1.x, v1.y, v1.z),
new THREE.Vector3(v2.x, v2.y, v2.z)
);
var j = geometry.vertices.length - 3;
geometry.faces.push(new THREE.Face3(j, j+1, j+2));
}
geometry.computeBoundingSphere();
geometry.computeFaceNormals();
mesh = new THREE.Mesh(geometry, this.currentMaterial);
break;
default:
throw "Visual type not recognized: "+shape.type;
}
mesh.receiveShadow = true;
mesh.castShadow = true;
if(mesh.children){
for(var i=0; i<mesh.children.length; i++){
mesh.children[i].castShadow = true;
mesh.children[i].receiveShadow = true;
if(mesh.children[i]){
for(var j=0; j<mesh.children[i].length; j++){
mesh.children[i].children[j].castShadow = true;
mesh.children[i].children[j].receiveShadow = true;
}
}
}
}
var o = body.shapeOffsets[l];
var q = body.shapeOrientations[l];
mesh.position.set(o.x, o.y, o.z);
mesh.quaternion.set(q.x, q.y, q.z, q.w);
obj.add(mesh);
}
return obj;
};
module.exports = CANNON.shape2mesh;
},{"cannon":5}],4:[function(require,module,exports){
module.exports={
"_args": [
[
{
"hosted": {
"directUrl": "https://github.com/raw/donmccurdy/cannon.js/v0.6.2-dev1/package.json",
"gitUrl": "git://github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"httpsUrl": "git+https://github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"shortcut": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"ssh": "git@github.com:donmccurdy/cannon.js.git#v0.6.2-dev1",
"sshUrl": "git+ssh://git@github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"type": "github"
},
"name": "cannon",
"raw": "cannon@github:donmccurdy/cannon.js#v0.6.2-dev1",
"rawSpec": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"scope": null,
"spec": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"type": "hosted"
},
"/Users/donmccurdy/Documents/Projects/aframe-physics-system"
]
],
"_from": "donmccurdy/cannon.js#v0.6.2-dev1",
"_id": "cannon@0.6.2",
"_inCache": true,
"_installable": true,
"_location": "/cannon",
"_phantomChildren": {},
"_requested": {
"hosted": {
"directUrl": "https://github.com/raw/donmccurdy/cannon.js/v0.6.2-dev1/package.json",
"gitUrl": "git://github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"httpsUrl": "git+https://github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"shortcut": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"ssh": "git@github.com:donmccurdy/cannon.js.git#v0.6.2-dev1",
"sshUrl": "git+ssh://git@github.com/donmccurdy/cannon.js.git#v0.6.2-dev1",
"type": "github"
},
"name": "cannon",
"raw": "cannon@github:donmccurdy/cannon.js#v0.6.2-dev1",
"rawSpec": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"scope": null,
"spec": "github:donmccurdy/cannon.js#v0.6.2-dev1",
"type": "hosted"
},
"_requiredBy": [
"/"
],
"_resolved": "git://github.com/donmccurdy/cannon.js.git#022e8ba53fa83abf0ad8a0e4fd08623123838a17",
"_shasum": "0c8f6a5264ab63c83bdd6228e4a09dfe6d6f29d4",
"_shrinkwrap": null,
"_spec": "cannon@github:donmccurdy/cannon.js#v0.6.2-dev1",
"_where": "/Users/donmccurdy/Documents/Projects/aframe-physics-system",
"author": {
"email": "schteppe@gmail.com",
"name": "Stefan Hedman",
"url": "http://steffe.se"
},
"bugs": {
"url": "https://github.com/schteppe/cannon.js/issues"
},
"dependencies": {},
"description": "A lightweight 3D physics engine written in JavaScript.",
"devDependencies": {
"browserify": "*",
"grunt": "~0.4.0",
"grunt-browserify": "^2.1.4",
"grunt-contrib-concat": "~0.1.3",
"grunt-contrib-jshint": "~0.1.1",
"grunt-contrib-nodeunit": "^0.4.1",
"grunt-contrib-uglify": "^0.5.1",
"grunt-contrib-yuidoc": "^0.5.2",
"jshint": "latest",
"nodeunit": "^0.9.0",
"uglify-js": "latest"
},
"engines": {
"node": "*"
},
"gitHead": "022e8ba53fa83abf0ad8a0e4fd08623123838a17",
"homepage": "https://github.com/schteppe/cannon.js",
"keywords": [
"cannon.js",
"cannon",
"physics",
"engine",
"3d"
],
"licenses": [
{
"type": "MIT"
}
],
"main": "./src/Cannon.js",
"name": "cannon",
"optionalDependencies": {},
"readme": "# cannon.js\n\n### Lightweight 3D physics for the web\nInspired by [three.js](https://github.com/mrdoob/three.js) and [ammo.js](https://github.com/kripken/ammo.js), and driven by the fact that the web lacks a physics engine, here comes cannon.js.\nThe rigid body physics engine includes simple collision detection, various body shapes, contacts, friction and constraints.\n\n[Demos](http://schteppe.github.com/cannon.js) - [Documentation](http://schteppe.github.com/cannon.js/docs) - [Rendering hints](https://github.com/schteppe/cannon.js/tree/master/examples) - [NPM package](https://npmjs.org/package/cannon) - [CDN](https://cdnjs.com/libraries/cannon.js)\n\n### Browser install\n\nJust include [cannon.js](https://github.com/schteppe/cannon.js/releases/download/v0.6.2/cannon.js) or [cannon.min.js](https://github.com/schteppe/cannon.js/releases/download/v0.6.2/cannon.min.js) in your html and you're done:\n\n```html\n<script src=\"cannon.min.js\"></script>\n```\n\n### Node.js install\n\nInstall the cannon package via NPM:\n\n```bash\nnpm install --save cannon\n```\n\nAlternatively, point to the Github repo directly to get the very latest version:\n\n```bash\nnpm install --save schteppe/cannon.js\n```\n\n### Example\n\nThe sample code below creates a sphere on a plane, steps the simulation, and prints the sphere simulation to the console. Note that Cannon.js uses [SI units](http://en.wikipedia.org/wiki/International_System_of_Units) (metre, kilogram, second, etc.).\n\n```javascript\n// Setup our world\nvar world = new CANNON.World();\nworld.gravity.set(0, 0, -9.82); // m/s²\n\n// Create a sphere\nvar radius = 1; // m\nvar sphereBody = new CANNON.Body({\n mass: 5, // kg\n position: new CANNON.Vec3(0, 0, 10), // m\n shape: new CANNON.Sphere(radius)\n});\nworld.addBody(sphereBody);\n\n// Create a plane\nvar groundBody = new CANNON.Body({\n mass: 0 // mass == 0 makes the body static\n});\nvar groundShape = new CANNON.Plane();\ngroundBody.addShape(groundShape);\nworld.addBody(groundBody);\n\nvar fixedTimeStep = 1.0 / 60.0; // seconds\nvar maxSubSteps = 3;\n\n// Start the simulation loop\nvar lastTime;\n(function simloop(time){\n requestAnimationFrame(simloop);\n if(lastTime !== undefined){\n var dt = (time - lastTime) / 1000;\n world.step(fixedTimeStep, dt, maxSubSteps);\n }\n console.log(\"Sphere z position: \" + sphereBody.position.z);\n lastTime = time;\n})();\n```\n\nIf you want to know how to use cannon.js with a rendering engine, for example Three.js, see the [Examples](examples).\n\n### Features\n* Rigid body dynamics\n* Discrete collision detection\n* Contacts, friction and restitution\n* Constraints\n * PointToPoint (a.k.a. ball/socket joint)\n * Distance\n * Hinge (with optional motor)\n * Lock\n * ConeTwist\n* Gauss-Seidel constraint solver and an island split algorithm\n* Collision filters\n* Body sleeping\n* Experimental SPH / fluid support\n* Various shapes and collision algorithms (see table below)\n\n| | [Sphere](http://schteppe.github.io/cannon.js/docs/classes/Sphere.html) | [Plane](http://schteppe.github.io/cannon.js/docs/classes/Plane.html) | [Box](http://schteppe.github.io/cannon.js/docs/classes/Box.html) | [Convex](http://schteppe.github.io/cannon.js/docs/classes/ConvexPolyhedron.html) | [Particle](http://schteppe.github.io/cannon.js/docs/classes/Particle.html) | [Heightfield](http://schteppe.github.io/cannon.js/docs/classes/Heightfield.html) | [Trimesh](http://schteppe.github.io/cannon.js/docs/classes/Trimesh.html) |\n| :-----------|:------:|:-----:|:---:|:------:|:--------:|:-----------:|:-------:|\n| Sphere | Yes | Yes | Yes | Yes | Yes | Yes | Yes |\n| Plane | - | - | Yes | Yes | Yes | - | Yes |\n| Box | - | - | Yes | Yes | Yes | Yes | (todo) |\n| Cylinder | - | - | Yes | Yes | Yes | Yes | (todo) |\n| Convex | - | - | - | Yes | Yes | Yes | (todo) |\n| Particle | - | - | - | - | - | (todo) | (todo) |\n| Heightfield | - | - | - | - | - | - | (todo) |\n| Trimesh | - | - | - | - | - | - | - |\n\n### Todo\nThe simpler todos are marked with ```@todo``` in the code. Github Issues can and should also be used for todos.\n\n### Help\nCreate an [issue](https://github.com/schteppe/cannon.js/issues) if you need help.\n",
"readmeFilename": "README.markdown",
"repository": {
"type": "git",
"url": "git+https://github.com/schteppe/cannon.js.git"
},
"version": "0.6.2"
}
},{}],5:[function(require,module,exports){
// Export classes
module.exports = {
version : require('../package.json').version,
AABB : require('./collision/AABB'),
ArrayCollisionMatrix : require('./collision/ArrayCollisionMatrix'),
Body : require('./objects/Body'),
Box : require('./shapes/Box'),
Broadphase : require('./collision/Broadphase'),
Constraint : require('./constraints/Constraint'),
ContactEquation : require('./equations/ContactEquation'),
Narrowphase : require('./world/Narrowphase'),
ConeTwistConstraint : require('./constraints/ConeTwistConstraint'),
ContactMaterial : require('./material/ContactMaterial'),
ConvexPolyhedron : require('./shapes/ConvexPolyhedron'),
Cylinder : require('./shapes/Cylinder'),
DistanceConstraint : require('./constraints/DistanceConstraint'),
Equation : require('./equations/Equation'),
EventTarget : require('./utils/EventTarget'),
FrictionEquation : require('./equations/FrictionEquation'),
GSSolver : require('./solver/GSSolver'),
GridBroadphase : require('./collision/GridBroadphase'),
Heightfield : require('./shapes/Heightfield'),
HingeConstraint : require('./constraints/HingeConstraint'),
LockConstraint : require('./constraints/LockConstraint'),
Mat3 : require('./math/Mat3'),
Material : require('./material/Material'),
NaiveBroadphase : require('./collision/NaiveBroadphase'),
ObjectCollisionMatrix : require('./collision/ObjectCollisionMatrix'),
Pool : require('./utils/Pool'),
Particle : require('./shapes/Particle'),
Plane : require('./shapes/Plane'),
PointToPointConstraint : require('./constraints/PointToPointConstraint'),
Quaternion : require('./math/Quaternion'),
Ray : require('./collision/Ray'),
RaycastVehicle : require('./objects/RaycastVehicle'),
RaycastResult : require('./collision/RaycastResult'),
RigidVehicle : require('./objects/RigidVehicle'),
RotationalEquation : require('./equations/RotationalEquation'),
RotationalMotorEquation : require('./equations/RotationalMotorEquation'),
SAPBroadphase : require('./collision/SAPBroadphase'),
SPHSystem : require('./objects/SPHSystem'),
Shape : require('./shapes/Shape'),
Solver : require('./solver/Solver'),
Sphere : require('./shapes/Sphere'),
SplitSolver : require('./solver/SplitSolver'),
Spring : require('./objects/Spring'),
Transform : require('./math/Transform'),
Trimesh : require('./shapes/Trimesh'),
Vec3 : require('./math/Vec3'),
Vec3Pool : require('./utils/Vec3Pool'),
World : require('./world/World'),
};
},{"../package.json":4,"./collision/AABB":6,"./collision/ArrayCollisionMatrix":7,"./collision/Broadphase":8,"./collision/GridBroadphase":9,"./collision/NaiveBroadphase":10,"./collision/ObjectCollisionMatrix":11,"./collision/Ray":13,"./collision/RaycastResult":14,"./collision/SAPBroadphase":15,"./constraints/ConeTwistConstraint":16,"./constraints/Constraint":17,"./constraints/DistanceConstraint":18,"./constraints/HingeConstraint":19,"./constraints/LockConstraint":20,"./constraints/PointToPointConstraint":21,"./equations/ContactEquation":23,"./equations/Equation":24,"./equations/FrictionEquation":25,"./equations/RotationalEquation":26,"./equations/RotationalMotorEquation":27,"./material/ContactMaterial":28,"./material/Material":29,"./math/Mat3":31,"./math/Quaternion":32,"./math/Transform":33,"./math/Vec3":34,"./objects/Body":35,"./objects/RaycastVehicle":36,"./objects/RigidVehicle":37,"./objects/SPHSystem":38,"./objects/Spring":39,"./shapes/Box":41,"./shapes/ConvexPolyhedron":42,"./shapes/Cylinder":43,"./shapes/Heightfield":44,"./shapes/Particle":45,"./shapes/Plane":46,"./shapes/Shape":47,"./shapes/Sphere":48,"./shapes/Trimesh":49,"./solver/GSSolver":50,"./solver/Solver":51,"./solver/SplitSolver":52,"./utils/EventTarget":53,"./utils/Pool":55,"./utils/Vec3Pool":58,"./world/Narrowphase":59,"./world/World":60}],6:[function(require,module,exports){
var Vec3 = require('../math/Vec3');
var Utils = require('../utils/Utils');
module.exports = AABB;
/**
* Axis aligned bounding box class.
* @class AABB
* @constructor
* @param {Object} [options]
* @param {Vec3} [options.upperBound]
* @param {Vec3} [options.lowerBound]
*/
function AABB(options){
options = options || {};
/**
* The lower bound of the bounding box.
* @property lowerBound
* @type {Vec3}
*/
this.lowerBound = new Vec3();
if(options.lowerBound){
this.lowerBound.copy(options.lowerBound);
}
/**
* The upper bound of the bounding box.
* @property upperBound
* @type {Vec3}
*/
this.upperBound = new Vec3();
if(options.upperBound){
this.upperBound.copy(options.upperBound);
}
}
var tmp = new Vec3();
/**
* Set the AABB bounds from a set of points.
* @method setFromPoints
* @param {Array} points An array of Vec3's.
* @param {Vec3} position
* @param {Quaternion} quaternion
* @param {number} skinSize
* @return {AABB} The self object
*/
AABB.prototype.setFromPoints = function(points, position, quaternion, skinSize){
var l = this.lowerBound,
u = this.upperBound,
q = quaternion;
// Set to the first point
l.copy(points[0]);
if(q){
q.vmult(l, l);
}
u.copy(l);
for(var i = 1; i<points.length; i++){
var p = points[i];
if(q){
q.vmult(p, tmp);
p = tmp;
}
if(p.x > u.x){ u.x = p.x; }
if(p.x < l.x){ l.x = p.x; }
if(p.y > u.y){ u.y = p.y; }
if(p.y < l.y){ l.y = p.y; }
if(p.z > u.z){ u.z = p.z; }
if(p.z < l.z){ l.z = p.z; }
}
// Add offset
if (position) {
position.vadd(l, l);
position.vadd(u, u);
}
if(skinSize){
l.x -= skinSize;
l.y -= skinSize;
l.z -= skinSize;
u.x += skinSize;
u.y += skinSize;
u.z += skinSize;
}
return this;
};
/**
* Copy bounds from an AABB to this AABB
* @method copy
* @param {AABB} aabb Source to copy from
* @return {AABB} The this object, for chainability
*/
AABB.prototype.copy = function(aabb){
this.lowerBound.copy(aabb.lowerBound);
this.upperBound.copy(aabb.upperBound);
return this;
};
/**
* Clone an AABB
* @method clone
*/
AABB.prototype.clone = function(){
return new AABB().copy(this);
};
/**
* Extend this AABB so that it covers the given AABB too.
* @method extend
* @param {AABB} aabb
*/
AABB.prototype.extend = function(aabb){
this.lowerBound.x = Math.min(this.lowerBound.x, aabb.lowerBound.x);
this.upperBound.x = Math.max(this.upperBound.x, aabb.upperBound.x);
this.lowerBound.y = Math.min(this.lowerBound.y, aabb.lowerBound.y);
this.upperBound.y = Math.max(this.upperBound.y, aabb.upperBound.y);
this.lowerBound.z = Math.min(this.lowerBound.z, aabb.lowerBound.z);
this.upperBound.z = Math.max(this.upperBound.z, aabb.upperBound.z);
};
/**
* Returns true if the given AABB overlaps this AABB.
* @method overlaps
* @param {AABB} aabb
* @return {Boolean}
*/
AABB.prototype.overlaps = function(aabb){
var l1 = this.lowerBound,
u1 = this.upperBound,
l2 = aabb.lowerBound,
u2 = aabb.upperBound;
// l2 u2
// |---------|
// |--------|
// l1 u1
var overlapsX = ((l2.x <= u1.x && u1.x <= u2.x) || (l1.x <= u2.x && u2.x <= u1.x));
var overlapsY = ((l2.y <= u1.y && u1.y <= u2.y) || (l1.y <= u2.y && u2.y <= u1.y));
var overlapsZ = ((l2.z <= u1.z && u1.z <= u2.z) || (l1.z <= u2.z && u2.z <= u1.z));
return overlapsX && overlapsY && overlapsZ;
};
// Mostly for debugging
AABB.prototype.volume = function(){
var l = this.lowerBound,
u = this.upperBound;
return (u.x - l.x) * (u.y - l.y) * (u.z - l.z);
};
/**
* Returns true if the given AABB is fully contained in this AABB.
* @method contains
* @param {AABB} aabb
* @return {Boolean}
*/
AABB.prototype.contains = function(aabb){
var l1 = this.lowerBound,
u1 = this.upperBound,
l2 = aabb.lowerBound,
u2 = aabb.upperBound;
// l2 u2
// |---------|
// |---------------|
// l1 u1
return (
(l1.x <= l2.x && u1.x >= u2.x) &&
(l1.y <= l2.y && u1.y >= u2.y) &&
(l1.z <= l2.z && u1.z >= u2.z)
);
};
/**
* @method getCorners
* @param {Vec3} a
* @param {Vec3} b
* @param {Vec3} c
* @param {Vec3} d
* @param {Vec3} e
* @param {Vec3} f
* @param {Vec3} g
* @param {Vec3} h
*/
AABB.prototype.getCorners = function(a, b, c, d, e, f, g, h){
var l = this.lowerBound,
u = this.upperBound;
a.copy(l);
b.set( u.x, l.y, l.z );
c.set( u.x, u.y, l.z );
d.set( l.x, u.y, u.z );
e.set( u.x, l.y, l.z );
f.set( l.x, u.y, l.z );
g.set( l.x, l.y, u.z );
h.copy(u);
};
var transformIntoFrame_corners = [
new Vec3(),
new Vec3(),
new Vec3(),
new Vec3(),
new Vec3(),
new Vec3(),
new Vec3(),
new Vec3()
];
/**
* Get the representation of an AABB in another frame.
* @method toLocalFrame
* @param {Transform} frame
* @param {AABB} target
* @return {AABB} The "target" AABB object.
*/
AABB.prototype.toLocalFrame = function(frame, target){
var corners = transformIntoFrame_corners;
var a = corners[0];
var b = corners[1];
var c = corners[2];
var d = corners[3];
var e = corners[4];
var f = corners[5];
var g = corners[6];
var h = corners[7];
// Get corners in current frame
this.getCorners(a, b, c, d, e, f, g, h);
// Transform them to new local frame
for(var i=0; i !== 8; i++){
var corner = corners[i];
frame.pointToLocal(corner, corner);
}
return target.setFromPoints(corners);
};
/**
* Get the representation of an AABB in the global frame.
* @method toWorldFrame
* @param {Transform} frame
* @param {AABB} target
* @return {AABB} The "target" AABB object.
*/
AABB.prototype.toWorldFrame = function(frame, target){
var corners = transformIntoFrame_corners;
var a = corners[0];
var b = corners[1];
var c = corners[2];
var d = corners[3];
var e = corners[4];
var f = corners[5];
var g = corners[6];
var h = corners[7];
// Get corners in current frame
this.getCorners(a, b, c, d, e, f, g, h);
// Transform them to new local frame
for(var i=0; i !== 8; i++){
var corner = corners[i];
frame.pointToWorld(corner, corner);
}
return target.setFromPoints(corners);
};
/**
* Check if the AABB is hit by a ray.
* @param {Ray} ray
* @return {number}
*/
AABB.prototype.overlapsRay = function(ray){
var t = 0;
// ray.direction is unit direction vector of ray
var dirFracX = 1 / ray._direction.x;
var dirFracY = 1 / ray._direction.y;
var dirFracZ = 1 / ray._direction.z;
// this.lowerBound is the corner of AABB with minimal coordinates - left bottom, rt is maximal corner
var t1 = (this.lowerBound.x - ray.from.x) * dirFracX;
var t2 = (this.upperBound.x - ray.from.x) * dirFracX;
var t3 = (this.lowerBound.y - ray.from.y) * dirFracY;
var t4 = (this.upperBound.y - ray.from.y) * dirFracY;
var t5 = (this.lowerBound.z - ray.from.z) * dirFracZ;
var t6 = (this.upperBound.z - ray.from.z) * dirFracZ;
// var tmin = Math.max(Math.max(Math.min(t1, t2), Math.min(t3, t4)));
// var tmax = Math.min(Math.min(Math.max(t1, t2), Math.max(t3, t4)));
var tmin = Math.max(Math.max(Math.min(t1, t2), Math.min(t3, t4)), Math.min(t5, t6));
var tmax = Math.min(Math.min(Math.max(t1, t2), Math.max(t3, t4)), Math.max(t5, t6));
// if tmax < 0, ray (line) is intersecting AABB, but whole AABB is behing us
if (tmax < 0){
//t = tmax;
return false;
}
// if tmin > tmax, ray doesn't intersect AABB
if (tmin > tmax){
//t = tmax;
return false;
}
return true;
};
},{"../math/Vec3":34,"../utils/Utils":57}],7:[function(require,module,exports){
module.exports = ArrayCollisionMatrix;
/**
* Collision "matrix". It's actually a triangular-shaped array of whether two bodies are touching this step, for reference next step
* @class ArrayCollisionMatrix
* @constructor
*/
function ArrayCollisionMatrix() {
/**
* The matrix storage
* @property matrix
* @type {Array}
*/
this.matrix = [];
}
/**
* Get an element
* @method get
* @param {Number} i
* @param {Number} j
* @return {Number}
*/
ArrayCollisionMatrix.prototype.get = function(i, j) {
i = i.index;
j = j.index;
if (j > i) {
var temp = j;
j = i;
i = temp;
}
return this.matrix[(i*(i + 1)>>1) + j-1];
};
/**
* Set an element
* @method set
* @param {Number} i
* @param {Number} j
* @param {Number} value
*/
ArrayCollisionMatrix.prototype.set = function(i, j, value) {
i = i.index;
j = j.index;
if (j > i) {
var temp = j;
j = i;
i = temp;
}
this.matrix[(i*(i + 1)>>1) + j-1] = value ? 1 : 0;
};
/**
* Sets all elements to zero
* @method reset
*/
ArrayCollisionMatrix.prototype.reset = function() {
for (var i=0, l=this.matrix.length; i!==l; i++) {
this.matrix[i]=0;
}
};
/**
* Sets the max number of objects
* @method setNumObjects
* @param {Number} n
*/
ArrayCollisionMatrix.prototype.setNumObjects = function(n) {
this.matrix.length = n*(n-1)>>1;
};
},{}],8:[function(require,module,exports){
var Body = require('../objects/Body');
var Vec3 = require('../math/Vec3');
var Quaternion = require('../math/Quaternion');
var Shape = require('../shapes/Shape');
var Plane = require('../shapes/Plane');
module.exports = Broadphase;
/**
* Base class for broadphase implementations
* @class Broadphase
* @constructor
* @author schteppe
*/
function Broadphase(){
/**
* The world to search for collisions in.
* @property world
* @type {World}
*/
this.world = null;
/**
* If set to true, the broadphase uses bounding boxes for intersection test, else it uses bounding spheres.
* @property useBoundingBoxes
* @type {Boolean}
*/
this.useBoundingBoxes = false;
/**
* Set to true if the objects in the world moved.
* @property {Boolean} dirty
*/
this.dirty = true;
}
/**
* Get the collision pairs from the world
* @method collisionPairs
* @param {World} world The world to search in
* @param {Array} p1 Empty array to be filled with body objects
* @param {Array} p2 Empty array to be filled with body objects
*/
Broadphase.prototype.collisionPairs = function(world,p1,p2){
throw new Error("collisionPairs not implemented for this BroadPhase class!");
};
/**
* Check if a body pair needs to be intersection tested at all.
* @method needBroadphaseCollision
* @param {Body} bodyA
* @param {Body} bodyB
* @return {bool}
*/
Broadphase.prototype.needBroadphaseCollision = function(bodyA,bodyB){
// Check collision filter masks
if( (bodyA.collisionFilterGroup & bodyB.collisionFilterMask)===0 || (bodyB.collisionFilterGroup & bodyA.collisionFilterMask)===0){
return false;
}
// Check types
if(((bodyA.type & Body.STATIC)!==0 || bodyA.sleepState === Body.SLEEPING) &&
((bodyB.type & Body.STATIC)!==0 || bodyB.sleepState === Body.SLEEPING)) {
// Both bodies are static or sleeping. Skip.
return false;
}
return true;
};
/**
* Check if the bounding volumes of two bodies intersect.
* @method intersectionTest
* @param {Body} bodyA
* @param {Body} bodyB
* @param {array} pairs1
* @param {array} pairs2
*/
Broadphase.prototype.intersectionTest = function(bodyA, bodyB, pairs1, pairs2){
if(this.useBoundingBoxes){
this.doBoundingBoxBroadphase(bodyA,bodyB,pairs1,pairs2);
} else {
this.doBoundingSphereBroadphase(bodyA,bodyB,pairs1,pairs2);
}
};
/**
* Check if the bounding spheres of two bodies are intersecting.
* @method doBoundingSphereBroadphase
* @param {Body} bodyA
* @param {Body} bodyB
* @param {Array} pairs1 bodyA is appended to this array if intersection
* @param {Array} pairs2 bodyB is appended to this array if intersection
*/
var Broadphase_collisionPairs_r = new Vec3(), // Temp objects
Broadphase_collisionPairs_normal = new Vec3(),
Broadphase_collisionPairs_quat = new Quaternion(),
Broadphase_collisionPairs_relpos = new Vec3();
Broadphase.prototype.doBoundingSphereBroadphase = function(bodyA,bodyB,pairs1,pairs2){
var r = Broadphase_collisionPairs_r;
bodyB.position.vsub(bodyA.position,r);
var boundingRadiusSum2 = Math.pow(bodyA.boundingRadius + bodyB.boundingRadius, 2);
var norm2 = r.norm2();
if(norm2 < boundingRadiusSum2){
pairs1.push(bodyA);
pairs2.push(bodyB);
}
};
/**
* Check if the bounding boxes of two bodies are intersecting.
* @method doBoundingBoxBroadphase
* @param {Body} bodyA
* @param {Body} bodyB
* @param {Array} pairs1
* @param {Array} pairs2
*/
Broadphase.prototype.doBoundingBoxBroadphase = function(bodyA,bodyB,pairs1,pairs2){
if(bodyA.aabbNeedsUpdate){
bodyA.computeAABB();
}
if(bodyB.aabbNeedsUpdate){
bodyB.computeAABB();
}
// Check AABB / AABB
if(bodyA.aabb.overlaps(bodyB.aabb)){
pairs1.push(bodyA);
pairs2.push(bodyB);
}
};
/**
* Removes duplicate pairs from the pair arrays.
* @method makePairsUnique
* @param {Array} pairs1
* @param {Array} pairs2
*/
var Broadphase_makePairsUnique_temp = { keys:[] },
Broadphase_makePairsUnique_p1 = [],
Broadphase_makePairsUnique_p2 = [];
Broadphase.prototype.makePairsUnique = function(pairs1,pairs2){
var t = Broadphase_makePairsUnique_temp,
p1 = Broadphase_makePairsUnique_p1,
p2 = Broadphase_makePairsUnique_p2,
N = pairs1.length;
for(var i=0; i!==N; i++){
p1[i] = pairs1[i];
p2[i] = pairs2[i];
}
pairs1.length = 0;
pairs2.length = 0;
for(var i=0; i!==N; i++){
var id1 = p1[i].id,
id2 = p2[i].id;
var key = id1 < id2 ? id1+","+id2 : id2+","+id1;
t[key] = i;
t.keys.push(key);
}
for(var i=0; i!==t.keys.length; i++){
var key = t.keys.pop(),
pairIndex = t[key];
pairs1.push(p1[pairIndex]);
pairs2.push(p2[pairIndex]);
delete t[key];
}
};
/**
* To be implemented by subcasses
* @method setWorld
* @param {World} world
*/
Broadphase.prototype.setWorld = function(world){
};
/**
* Check if the bounding spheres of two bodies overlap.
* @method boundingSphereCheck
* @param {Body} bodyA
* @param {Body} bodyB
* @return {boolean}
*/
var bsc_dist = new Vec3();
Broadphase.boundingSphereCheck = function(bodyA,bodyB){
var dist = bsc_dist;
bodyA.position.vsub(bodyB.position,dist);
return Math.pow(bodyA.shape.boundingSphereRadius + bodyB.shape.boundingSphereRadius,2) > dist.norm2();
};
/**
* Returns all the bodies within the AABB.
* @method aabbQuery
* @param {World} world
* @param {AABB} aabb
* @param {array} result An array to store resulting bodies in.
* @return {array}
*/
Broadphase.prototype.aabbQuery = function(world, aabb, result){
console.warn('.aabbQuery is not implemented in this Broadphase subclass.');
return [];
};
},{"../math/Quaternion":32,"../math/Vec3":34,"../objects/Body":35,"../shapes/Plane":46,"../shapes/Shape":47}],9:[function(require,module,exports){
module.exports = GridBroadphase;
var Broadphase = require('./Broadphase');
var Vec3 = require('../math/Vec3');
var Shape = require('../shapes/Shape');
/**
* Axis aligned uniform grid broadphase.
* @class GridBroadphase
* @constructor
* @extends Broadphase
* @todo Needs support for more than just planes and spheres.
* @param {Vec3} aabbMin
* @param {Vec3} aabbMax
* @param {Number} nx Number of boxes along x
* @param {Number} ny Number of boxes along y
* @param {Number} nz Number of boxes along z
*/
function GridBroadphase(aabbMin,aabbMax,nx,ny,nz){
Broadphase.apply(this);
this.nx = nx || 10;
this.ny = ny || 10;
this.nz = nz || 10;
this.aabbMin = aabbMin || new Vec3(100,100,100);
this.aabbMax = aabbMax || new Vec3(-100,-100,-100);
var nbins = this.nx * this.ny * this.nz;
if (nbins <= 0) {
throw "GridBroadphase: Each dimension's n must be >0";
}
this.bins = [];
this.binLengths = []; //Rather than continually resizing arrays (thrashing the memory), just record length and allow them to grow
this.bins.length = nbins;
this.binLengths.length = nbins;
for (var i=0;i<nbins;i++) {
this.bins[i]=[];
this.binLengths[i]=0;
}
}
GridBroadphase.prototype = new Broadphase();
GridBroadphase.prototype.constructor = GridBroadphase;
/**