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refactor: extract duplicated velocity calculation logic in Contact class #306

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refactor: extract duplicated velocity calculation logic in Contact class #306

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86 changes: 36 additions & 50 deletions src/dynamics/Contact.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ import { Body } from "./Body";
import { ContactImpulse, TimeStep } from "./Solver";
import { Pool } from "../util/Pool";
import { getTransform } from "./Position";
import { Vec2Value } from '../main';


/** @internal */ const _ASSERT = typeof ASSERT === 'undefined' ? false : ASSERT;
Expand Down Expand Up @@ -361,7 +362,21 @@ export class Contact {
matrix.copyVec2(this.p_localPoints[j], cp.localPoint);
}
}

computeRelativeVelocity(
dv: Vec2Value,
vA: Vec2Value,
wA: number,
rA: Vec2Value,
vB: Vec2Value,
wB: number,
rB: Vec2Value
): void {
matrix.zeroVec2(dv);
matrix.plusVec2(dv, vB);
matrix.plusVec2(dv, matrix.crossNumVec2(temp, wB, rB));
matrix.minusVec2(dv, vA);
matrix.minusVec2(dv, matrix.crossNumVec2(temp, wA, rA));
}
/**
* Get the contact manifold. Do not modify the manifold unless you understand
* the internals of the library.
Expand Down Expand Up @@ -623,15 +638,15 @@ export class Contact {
}
}

solvePositionConstraint(step: TimeStep): number {
return this._solvePositionConstraint(step, null, null);
solvePositionConstraint(): number {
return this._solvePositionConstraint(null, null);
}

solvePositionConstraintTOI(step: TimeStep, toiA: Body, toiB: Body): number {
return this._solvePositionConstraint(step, toiA, toiB);
solvePositionConstraintTOI(toiA: Body, toiB: Body): number {
return this._solvePositionConstraint(toiA, toiB);
}

private _solvePositionConstraint(step: TimeStep, toiA: Body | null, toiB: Body | null): number {
private _solvePositionConstraint(toiA: Body | null, toiB: Body | null): number {
const toi = toiA !== null && toiB !== null ? true : false;
let minSeparation = 0.0;

Expand All @@ -642,8 +657,6 @@ export class Contact {
const bodyB = fixtureB.m_body;
if (bodyA === null || bodyB === null) return minSeparation;

const velocityA = bodyA.c_velocity;
const velocityB = bodyB.c_velocity;
const positionA = bodyA.c_position;
const positionB = bodyB.c_position;

Expand Down Expand Up @@ -854,7 +867,7 @@ export class Contact {
// K is safe to invert.
this.v_K.ex.setNum(k11, k12);
this.v_K.ey.setNum(k12, k22);
// this.v_normalMass.set(this.v_K.getInverse());

const a = this.v_K.ex.x;
const b = this.v_K.ey.x;
const c = this.v_K.ex.y;
Expand Down Expand Up @@ -886,7 +899,7 @@ export class Contact {
velocityB.w = wB;
}

warmStartConstraint(step: TimeStep): void {
warmStartConstraint(): void {
const fixtureA = this.m_fixtureA;
const fixtureB = this.m_fixtureB;
if (fixtureA === null || fixtureB === null) return;
Expand All @@ -896,8 +909,6 @@ export class Contact {

const velocityA = bodyA.c_velocity;
const velocityB = bodyB.c_velocity;
const positionA = bodyA.c_position;
const positionB = bodyB.c_position;

const mA = this.v_invMassA;
const iA = this.v_invIA;
Expand Down Expand Up @@ -929,7 +940,7 @@ export class Contact {
velocityB.w = wB;
}

storeConstraintImpulses(step: TimeStep): void {
storeConstraintImpulses(): void {
const manifold = this.m_manifold;
for (let j = 0; j < this.v_pointCount; ++j) {
manifold.points[j].normalImpulse = this.v_points[j].normalImpulse;
Expand All @@ -946,10 +957,8 @@ export class Contact {
if (bodyA === null || bodyB === null) return;

const velocityA = bodyA.c_velocity;
const positionA = bodyA.c_position;

const velocityB = bodyB.c_velocity;
const positionB = bodyB.c_position;

const mA = this.v_invMassA;
const iA = this.v_invIA;
Expand Down Expand Up @@ -1078,13 +1087,8 @@ export class Contact {

// Relative velocity at contact
// let dv1 = Vec2.zero().add(vB).add(Vec2.crossNumVec2(wB, vcp1.rB)).sub(vA).sub(Vec2.crossNumVec2(wA, vcp1.rA));
matrix.zeroVec2(dv1);
matrix.plusVec2(dv1, vB);
matrix.plusVec2(dv1, matrix.crossNumVec2(temp, wB, vcp1.rB));
matrix.minusVec2(dv1, vA);
matrix.minusVec2(dv1, matrix.crossNumVec2(temp, wA, vcp1.rA));
this.computeRelativeVelocity(dv1, vA, wA, rA, vB, wB, rB)

// let dv2 = Vec2.zero().add(vB).add(Vec2.crossNumVec2(wB, vcp2.rB)).sub(vA).sub(Vec2.crossNumVec2(wA, vcp2.rA));
matrix.zeroVec2(dv2);
matrix.plusVec2(dv2, vB);
matrix.plusVec2(dv2, matrix.crossNumVec2(temp, wB, vcp2.rB));
Expand All @@ -1098,12 +1102,10 @@ export class Contact {
matrix.setVec2(b, vn1 - vcp1.velocityBias, vn2 - vcp2.velocityBias);

// Compute b'
// b.sub(Mat22.mulVec2(this.v_K, a));
b.x -= this.v_K.ex.x * a.x + this.v_K.ey.x * a.y;
b.y -= this.v_K.ex.y * a.x + this.v_K.ey.y * a.y;

const k_errorTol = 1e-3;
// NOT_USED(k_errorTol);

while (true) {
//
Expand All @@ -1128,11 +1130,11 @@ export class Contact {
matrix.scaleVec2(P1, d.x, normal);
matrix.scaleVec2(P2, d.y, normal);

// vA.subCombine(mA, P1, mA, P2);

matrix.combine3Vec2(vA, -mA, P1, -mA, P2, 1, vA);
wA -= iA * (matrix.crossVec2Vec2(vcp1.rA, P1) + matrix.crossVec2Vec2(vcp2.rA, P2));

// vB.addCombine(mB, P1, mB, P2);

matrix.combine3Vec2(vB, mB, P1, mB, P2, 1, vB);
wB += iB * (matrix.crossVec2Vec2(vcp1.rB, P1) + matrix.crossVec2Vec2(vcp2.rB, P2));

Expand All @@ -1142,11 +1144,7 @@ export class Contact {

if (DEBUG_SOLVER) {
// Postconditions
matrix.zeroVec2(dv1);
matrix.plusVec2(dv1, vB);
matrix.plusVec2(dv1, matrix.crossNumVec2(temp, wB, vcp1.rB));
matrix.minusVec2(dv1, vA);
matrix.minusVec2(dv1, matrix.crossNumVec2(temp, wA, vcp1.rA));
this.computeRelativeVelocity(dv1, vA, wA, rA, vB, wB, rB)

matrix.zeroVec2(dv2);
matrix.plusVec2(dv2, vB);
Expand Down Expand Up @@ -1183,11 +1181,11 @@ export class Contact {
matrix.scaleVec2(P1, d.x, normal);
matrix.scaleVec2(P2, d.y, normal);

// vA.subCombine(mA, P1, mA, P2);

matrix.combine3Vec2(vA, -mA, P1, -mA, P2, 1, vA);
wA -= iA * (matrix.crossVec2Vec2(vcp1.rA, P1) + matrix.crossVec2Vec2(vcp2.rA, P2));

// vB.addCombine(mB, P1, mB, P2);

matrix.combine3Vec2(vB, mB, P1, mB, P2, 1, vB);
wB += iB * (matrix.crossVec2Vec2(vcp1.rB, P1) + matrix.crossVec2Vec2(vcp2.rB, P2));

Expand All @@ -1197,11 +1195,7 @@ export class Contact {

if (DEBUG_SOLVER) {
// Postconditions
matrix.zeroVec2(dv1);
matrix.plusVec2(dv1, vB);
matrix.plusVec2(dv1, matrix.crossNumVec2(temp, wB, vcp1.rB));
matrix.minusVec2(dv1, vA);
matrix.minusVec2(dv1, matrix.crossNumVec2(temp, wA, vcp1.rA));
this.computeRelativeVelocity(dv1, vA, wA, rA, vB, wB, rB)

// Compute normal velocity
vn1 = matrix.dotVec2(dv1, normal);
Expand Down Expand Up @@ -1230,11 +1224,11 @@ export class Contact {
matrix.scaleVec2(P1, d.x, normal);
matrix.scaleVec2(P2, d.y, normal);

// vA.subCombine(mA, P1, mA, P2);

matrix.combine3Vec2(vA, -mA, P1, -mA, P2, 1, vA);
wA -= iA * (matrix.crossVec2Vec2(vcp1.rA, P1) + matrix.crossVec2Vec2(vcp2.rA, P2));

// vB.addCombine(mB, P1, mB, P2);

matrix.combine3Vec2(vB, mB, P1, mB, P2, 1, vB);
wB += iB * (matrix.crossVec2Vec2(vcp1.rB, P1) + matrix.crossVec2Vec2(vcp2.rB, P2));

Expand Down Expand Up @@ -1277,11 +1271,11 @@ export class Contact {
matrix.scaleVec2(P1, d.x, normal);
matrix.scaleVec2(P2, d.y, normal);

// vA.subCombine(mA, P1, mA, P2);

matrix.combine3Vec2(vA, -mA, P1, -mA, P2, 1, vA);
wA -= iA * (matrix.crossVec2Vec2(vcp1.rA, P1) + matrix.crossVec2Vec2(vcp2.rA, P2));

// vB.addCombine(mB, P1, mB, P2);

matrix.combine3Vec2(vB, mB, P1, mB, P2, 1, vB);
wB += iB * (matrix.crossVec2Vec2(vcp1.rB, P1) + matrix.crossVec2Vec2(vcp2.rB, P2));

Expand Down Expand Up @@ -1409,14 +1403,6 @@ export class Contact {
bodyB.setAwake(true);
}

// const typeA = fixtureA.getType();
// const typeB = fixtureB.getType();

// const destroyFcn = s_registers[typeA][typeB].destroyFcn;
// if (typeof destroyFcn === 'function') {
// destroyFcn(contact);
// }

contactPool.release(contact);
}
}
}
6 changes: 6 additions & 0 deletions src/qodana.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
version: "1.0"
profile:
name: qodana.starter
include:
- name: DuplicatedCode
- name: UnnecessaryLocalVariableJS