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examples/test_vehicle.html

@@ -87,9 +87,10 @@
             //var axis2 = new OIMO.Vec3( x[2], x[5], x[8]);
             var axis2 = new OIMO.Vec3( x[1], x[4], x[7]);
             //var axis2 = new OIMO.Vec3(  x[0], x[3], x[6]);
-            var axis3 = new OIMO.Vec3().sub(axis2, axis1.scaleEqual(axis1.dot(axis2)));
-            w.orientation.mul( new OIMO.Quat().arc(axis2, axis3.normalize(axis3)), w.orientation );
-            w.orientation.normalize( w.orientation );
+            var axis3 = new OIMO.Vec3().subVectors( axis2, axis1.scaleEqual( axis1.dot(axis2) ) ).normalize();
+            //w.orientation.multiply( new OIMO.Quat().arc( axis2, axis3 ) );
+            w.orientation.multiply( new OIMO.Quat().setFromUnitVectors( axis2, axis3 ) );
+            w.orientation.normalize();
         }
     }
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "oimo",
-  "version": "1.0.7",
+  "version": "1.0.8",
   "description": "JavaScript 3D physics engine.",
   "main": "build/oimo.js",
   "repository": "lo-th/oimo",

src/Oimo.js

@@ -86,10 +86,10 @@ export { JointConfig } from './constraint/joint/JointConfig.js';
 
 
 
-//export { RigidBody } from './core/RigidBody.js';
-//export { World } from './core/World.js';
+export { RigidBody } from './core/RigidBody.js';
+export { World } from './core/World.js';
 
 // test version
 
-export { RigidBody } from './core/RigidBody_X.js';
-export { World } from './core/World_X.js';
+//export { RigidBody } from './core/RigidBody_X.js';
+//export { World } from './core/World_X.js';

src/constants.js

@@ -3,7 +3,7 @@
  * the physics engine.
  */
 
-export var REVISION = '1.0.7';
+export var REVISION = '1.0.8';
 
 // BroadPhase
 export var BR_NULL = 0;

src/constraint/contact/Contact.js

@@ -32,6 +32,10 @@ function Contact(){
     this.constraint = null;
     // Whether the shapes are touching or not.
     this.touching = false;
+    // shapes is very close and touching 
+    this.close = false;
+
+    this.dist = _Math.INF;
 
     this.b1Link = new ContactLink( this );
     this.b2Link = new ContactLink( this );
@@ -95,9 +99,13 @@ Object.assign( Contact.prototype, {
         this.detector.detectCollision(this.shape1,this.shape2,this.manifold);
         var num=this.manifold.numPoints;
         if(num==0){
-            this.touching=false;
+            this.touching = false;
+            this.close = false;
+            this.dist = _Math.INF;
             return;
         }
+
+        if( this.touching || this.dist < 0.001 ) this.close = true;
         this.touching=true;
         i = num;
         while(i--){
@@ -134,6 +142,9 @@ Object.assign( Contact.prototype, {
                         index=j;
                     }
                 }
+
+                if( minDistance < this.dist ) this.dist = minDistance;
+
             }
             if(index!=-1){
                 var tmp=this.buffer[index];

src/constraint/contact/ContactConstraint.js

@@ -93,7 +93,7 @@ ContactConstraint.prototype = Object.assign( Object.create( Constraint.prototype
         this.num = this.manifold.numPoints;
 
         var c = this.cs;
-        var p, rvn, len, norImp, norTar, sepV;
+        var p, rvn, len, norImp, norTar, sepV, i1, i2;;
 
         for( var i=0; i < this.num; i++ ){
 
@@ -154,6 +154,9 @@ ContactConstraint.prototype = Object.assign( Object.create( Constraint.prototype
             c.tanT2.crossVectors( this.tmpP2, c.tan );
             c.binT2.crossVectors( this.tmpP2, c.bin );
 
+            i1 = this.i1;
+            i2 = this.i2;
+
             c.norTU1.copy( c.norT1 ).applyMatrix3( i1, true );
             c.tanTU1.copy( c.tanT1 ).applyMatrix3( i1, true );
             c.binTU1.copy( c.binT1 ).applyMatrix3( i1, true );

src/constraint/contact/Contact_X.js

@@ -107,6 +107,7 @@ Object.assign( Contact.prototype, {
         if( num === 0 ){
             this.touching = false;
             this.close = false;
+            this.dist = _Math.INF;
             return;
         }
 

src/core/RigidBody.js

@@ -30,6 +30,7 @@ function RigidBody ( Position, Rotation, scale, invScale ) {
     // possible link to three Mesh;
     this.mesh = null;
 
+    this.id = NaN;
     this.name = "";
     // The maximum number of shapes that can be added to a one rigid.
     //this.MAX_SHAPES = 64;//64;
@@ -53,6 +54,9 @@ function RigidBody ( Position, Rotation, scale, invScale ) {
     this.controlRot = false;
     this.controlRotInTime = false;
 
+    this.quaternion = new Quat();
+    this.pos = new Vec3();
+
 
 
     // Is the translational velocity.
@@ -87,6 +91,9 @@ function RigidBody ( Position, Rotation, scale, invScale ) {
     this.isStatic = false;
     // I indicates that this rigid body to determine whether it is a rigid body dynamic.
     this.isDynamic = false;
+
+    this.isKinematic = false;
+
     // It is a rotation matrix representing the orientation.
     this.rotation = new Mat33();
 
@@ -121,6 +128,18 @@ function RigidBody ( Position, Rotation, scale, invScale ) {
 
 Object.assign( RigidBody.prototype, {
 
+    setParent: function ( world ) {
+
+        this.parent = world;
+        this.scale = this.parent.scale;
+        this.invScale = this.parent.invScale;
+        this.id = this.parent.numRigidBodies;
+        if( !this.name ) this.name = this.id;
+
+        this.updateMesh();
+
+    },
+
     /**
      * I'll add a shape to rigid body.
      * If you add a shape, please call the setupMass method to step up to the start of the next.
@@ -336,19 +355,22 @@ Object.assign( RigidBody.prototype, {
             break;
             case BODY_DYNAMIC:
 
-                if(this.controlPos){
+                if( this.isKinematic ){
 
-                    this.angularVelocity.set(0,0,0);
                     this.linearVelocity.set(0,0,0);
-                    this.linearVelocity.x = (this.newPosition.x - this.position.x)/timeStep;
-                    this.linearVelocity.y = (this.newPosition.y - this.position.y)/timeStep;
-                    this.linearVelocity.z = (this.newPosition.z - this.position.z)/timeStep;
+                    this.angularVelocity.set(0,0,0);
+
+                }
+
+                if(this.controlPos){
+
+                    this.linearVelocity.subVectors( this.newPosition, this.position ).multiplyScalar(1/timeStep);
                     this.controlPos = false;
 
                 }
                 if(this.controlRot){
 
-                    this.angularVelocity.set(0,0,0);
+                    this.angularVelocity.copy( this.getAxis() );
                     this.orientation.copy( this.newOrientation );
                     this.controlRot = false;
 
@@ -357,6 +379,8 @@ Object.assign( RigidBody.prototype, {
                 this.position.addScaledVector(this.linearVelocity, timeStep);
                 this.orientation.addTime(this.angularVelocity, timeStep);
 
+                this.updateMesh();
+
             break;
             default: printError("RigidBody", "Invalid type.");
         }
@@ -366,6 +390,12 @@ Object.assign( RigidBody.prototype, {
 
     },
 
+    getAxis: function () {
+
+        return new Vec3( 0,1,0 ).applyMatrix3( this.inverseLocalInertia, true ).normalize();
+
+    },
+
     rotateInertia: function ( rot, inertia, out ) {
 
         this.tmpInertia.multiplyMatrices( rot, inertia );
@@ -388,12 +418,10 @@ Object.assign( RigidBody.prototype, {
     },
 
 
-    /**
-     * Apply impulse force.
-     *
-     * @method applyImpulse
-     * @return void
-     */
+    //---------------------------------------------
+    // APPLY IMPULSE FORCE
+    //---------------------------------------------
+
     applyImpulse: function(position, force){
         this.linearVelocity.addScaledVector(force, this.inverseMass);
         var rel = new Vec3().copy( position ).sub( this.position ).cross( force ).applyMatrix3( this.inverseInertia, true );
@@ -408,11 +436,13 @@ Object.assign( RigidBody.prototype, {
     setPosition: function(pos){
         this.newPosition.copy( pos ).multiplyScalar( this.invScale );
         this.controlPos = true;
+        if( !this.isKinematic ) this.isKinematic = true;
     },
 
     setQuaternion: function(q){
         this.newOrientation.set(q.x, q.y, q.z, q.w);
         this.controlRot = true;
+        if( !this.isKinematic ) this.isKinematic = true;
     },
 
     setRotation: function ( rot ) {
@@ -457,22 +487,32 @@ Object.assign( RigidBody.prototype, {
 
     getPosition:function () {
 
-        return new Vec3().scale( this.position, this.scale );
+        return this.pos;
 
     },
 
     getQuaternion: function () {
 
-        return new Quat().setFromRotationMatrix( this.rotation );
+        return this.quaternion;
 
     },
 
     //---------------------------------------------
     // AUTO UPDATE THREE MESH
     //---------------------------------------------
 
+    connectMesh: function ( mesh ) {
+
+        this.mesh = mesh;
+        this.updateMesh();
+
+    },
+
     updateMesh: function(){
 
+        this.pos.scale( this.position, this.scale );
+        this.quaternion.copy( this.orientation );
+
         if( this.mesh === null ) return;
 
         this.mesh.position.copy( this.getPosition() );

src/core/RigidBody_X.js

@@ -396,8 +396,7 @@ Object.assign( RigidBody.prototype, {
 
                 if( this.controlPos ){
 
-                    this.tmpPos.sub( this.newPosition, this.position );
-                    this.linearVelocity.scale( this.tmpPos, (1/timeStep) );
+                    this.linearVelocity.subVectors( this.newPosition, this.position ).multiplyScalar(1/timeStep);
                     this.controlPos = false;
 
                 }