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joeng03joeng03
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Resolved merge conflicts for package.json and yarn.lock
2 parents 9c5e04a + ef08557 commit e682332

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‎modules.json

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@@ -85,5 +85,10 @@
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},
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"remote_execution": {
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"tabs": []
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},
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"physics_2d": {
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"tabs": [
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"physics_2d"
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]
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}
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}

‎package.json

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"@blueprintjs/core": "^4.6.1",
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"@blueprintjs/icons": "^4.4.0",
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"@blueprintjs/popover2": "^1.4.3",
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"@box2d/core": "^0.10.0",
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"@box2d/debug-draw": "^0.10.0",
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"@jscad/modeling": "^2.9.5",
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"@jscad/regl-renderer": "^2.6.1",
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"@jscad/stl-serializer": "^2.1.13",

‎src/bundles/physics_2d/PhysicsObject.ts

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/* eslint-disable new-cap */
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// We have to disable linting rules since Box2D functions do not
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// follow the same guidelines as the rest of the codebase.
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import {
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type b2Body,
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type b2Shape,
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type b2Fixture,
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b2BodyType,
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b2CircleShape,
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b2PolygonShape,
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b2Vec2,
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} from '@box2d/core';
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import { type ReplResult } from '../../typings/type_helpers';
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import { ACCURACY, type Force, type ForceWithPos } from './types';
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import { type PhysicsWorld } from './PhysicsWorld';
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export class PhysicsObject implements ReplResult {
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private body: b2Body;
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private shape: b2Shape;
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private fixture: b2Fixture;
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private forcesCentered: Force[] = [];
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private forcesAtAPoint: ForceWithPos[] = [];
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constructor(
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position: b2Vec2,
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rotation: number,
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shape: b2Shape,
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isStatic: boolean,
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world: PhysicsWorld,
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) {
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this.body = world.createBody({
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type: isStatic ? b2BodyType.b2_staticBody : b2BodyType.b2_dynamicBody,
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position,
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angle: rotation,
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});
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this.shape = shape;
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this.fixture = this.body.CreateFixture({
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shape: this.shape,
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density: 1,
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friction: 1,
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});
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}
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public getFixture() {
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return this.fixture;
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}
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public getMass() {
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return this.body.GetMass();
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}
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public setDensity(density: number) {
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this.fixture.SetDensity(density);
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this.body.ResetMassData();
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}
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public setFriction(friction: number) {
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this.fixture.SetFriction(friction);
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}
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public getPosition() {
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return this.body.GetPosition();
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}
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public setPosition(pos: b2Vec2) {
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this.body.SetTransformVec(pos, this.getRotation());
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}
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public getRotation() {
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return this.body.GetAngle();
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}
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public setRotation(rot: number) {
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this.body.SetAngle(rot);
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}
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public getVelocity() {
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return this.body.GetLinearVelocity();
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}
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public setVelocity(velc: b2Vec2) {
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this.body.SetLinearVelocity(velc);
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}
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public getAngularVelocity() {
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return this.body.GetAngularVelocity();
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}
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public setAngularVelocity(velc: number) {
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this.body.SetAngularVelocity(velc);
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}
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public addForceCentered(force: Force) {
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this.forcesCentered.push(force);
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}
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public addForceAtAPoint(force: Force, pos: b2Vec2) {
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this.forcesAtAPoint.push({
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force,
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pos,
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});
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}
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private applyForcesToCenter(world_time: number) {
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this.forcesCentered = this.forcesCentered.filter(
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(force: Force) => force.start_time + force.duration > world_time,
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);
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const resForce = this.forcesCentered
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.filter((force: Force) => force.start_time < world_time)
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.reduce(
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(res: b2Vec2, force: Force) => res.Add(force.direction.Scale(force.magnitude)),
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new b2Vec2(),
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);
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this.body.ApplyForceToCenter(resForce);
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}
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private applyForcesAtAPoint(world_time: number) {
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this.forcesAtAPoint = this.forcesAtAPoint.filter(
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(forceWithPos: ForceWithPos) => forceWithPos.force.start_time + forceWithPos.force.duration > world_time,
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);
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this.forcesAtAPoint.forEach((forceWithPos) => {
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const force = forceWithPos.force;
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this.body.ApplyForce(
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force.direction.Scale(force.magnitude),
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forceWithPos.pos,
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);
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});
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}
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public applyForces(world_time: number) {
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this.applyForcesToCenter(world_time);
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this.applyForcesAtAPoint(world_time);
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}
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public isTouching(obj2: PhysicsObject) {
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let ce = this.body.GetContactList();
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while (ce !== null) {
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if (ce.other === obj2.body && ce.contact.IsTouching()) {
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return true;
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}
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ce = ce.next;
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}
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return false;
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}
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public toReplString = () => `
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Mass: ${this.getMass()
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.toFixed(ACCURACY)}
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Position: [${this.getPosition().x.toFixed(
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ACCURACY,
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)},${this.getPosition().y.toFixed(ACCURACY)}]
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Velocity: [${this.getVelocity().x.toFixed(
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ACCURACY,
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)},${this.getVelocity().y.toFixed(ACCURACY)}]
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Rotation: ${this.getRotation()
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.toFixed(ACCURACY)}
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AngularVelocity: [${this.getAngularVelocity()
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.toFixed(ACCURACY)}]`;
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public scale_size(scale: number) {
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if (this.shape instanceof b2CircleShape) {
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this.shape.m_radius *= scale;
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} else if (this.shape instanceof b2PolygonShape) {
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let centroid: b2Vec2 = this.shape.m_centroid;
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let arr: b2Vec2[] = [];
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this.shape.m_vertices.forEach((vec) => {
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arr.push(
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new b2Vec2(
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centroid.x + scale * (vec.x - centroid.x),
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centroid.y + scale * (vec.y - centroid.y),
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),
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);
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});
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this.shape = new b2PolygonShape()
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.Set(arr);
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}
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let f: b2Fixture = this.fixture;
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this.body.DestroyFixture(this.fixture);
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this.fixture = this.body.CreateFixture({
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shape: this.shape,
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density: f.GetDensity(),
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friction: f.GetFriction(),
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});
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}
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}

‎src/bundles/physics_2d/PhysicsWorld.ts

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/* eslint-disable new-cap */
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// We have to disable linting rules since Box2D functions do not
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// follow the same guidelines as the rest of the codebase.
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import {
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type b2Body,
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type b2Fixture,
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type b2BodyDef,
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b2BodyType,
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b2PolygonShape,
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type b2StepConfig,
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b2Vec2,
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b2World,
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b2ContactListener,
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type b2Contact,
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} from '@box2d/core';
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import { type PhysicsObject } from './PhysicsObject';
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import { Timer } from './types';
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export class PhysicsWorld {
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private b2World: b2World;
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private physicsObjects: PhysicsObject[];
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private timer: Timer;
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private touchingObjects: Map<b2Fixture, Map<b2Fixture, number>>;
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private iterationsConfig: b2StepConfig = {
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velocityIterations: 8,
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positionIterations: 3,
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};
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constructor() {
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this.b2World = b2World.Create(new b2Vec2());
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this.physicsObjects = [];
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this.timer = new Timer();
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this.touchingObjects = new Map<b2Fixture, Map<b2Fixture, number>>();
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const contactListener: b2ContactListener = new b2ContactListener();
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contactListener.BeginContact = (contact: b2Contact) => {
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let m = this.touchingObjects.get(contact.GetFixtureA());
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if (m === undefined) {
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let newMap = new Map<b2Fixture, number>();
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newMap.set(contact.GetFixtureB(), this.timer.getTime());
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this.touchingObjects.set(contact.GetFixtureA(), newMap);
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} else {
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m.set(contact.GetFixtureB(), this.timer.getTime());
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}
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};
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contactListener.EndContact = (contact: b2Contact) => {
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const contacts = this.touchingObjects.get(contact.GetFixtureA());
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if (contacts) {
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contacts.delete(contact.GetFixtureB());
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}
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};
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this.b2World.SetContactListener(contactListener);
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}
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public setGravity(gravity: b2Vec2) {
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this.b2World.SetGravity(gravity);
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}
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public addObject(obj: PhysicsObject) {
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this.physicsObjects.push(obj);
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return obj;
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}
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public createBody(bodyDef: b2BodyDef) {
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return this.b2World.CreateBody(bodyDef);
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}
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public makeGround(height: number, friction: number) {
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const groundBody: b2Body = this.createBody({
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type: b2BodyType.b2_staticBody,
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position: new b2Vec2(0, height - 10),
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});
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const groundShape: b2PolygonShape = new b2PolygonShape()
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.SetAsBox(
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10000,
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10,
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);
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groundBody.CreateFixture({
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shape: groundShape,
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density: 1,
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friction,
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});
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}
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public update(dt: number) {
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for (let obj of this.physicsObjects) {
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obj.applyForces(this.timer.getTime());
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}
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this.b2World.Step(dt, this.iterationsConfig);
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this.timer.step(dt);
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}
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public simulate(total_time: number) {
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const dt = 0.01;
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for (let i = 0; i < total_time; i += dt) {
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this.update(dt);
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}
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}
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public getB2World() {
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return this.b2World;
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}
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public getWorldStatus(): String {
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let world_status: String = `
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World time: ${this.timer.toString()}
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Objects:
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`;
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this.physicsObjects.forEach((obj) => {
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console.log(obj.getMass());
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world_status += `
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------------------------
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${obj.toReplString()}
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------------------------
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`;
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});
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return world_status;
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}
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public findImpact(obj1: PhysicsObject, obj2: PhysicsObject) {
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let m = this.touchingObjects.get(obj1.getFixture());
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if (m === undefined) {
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return -1;
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}
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let time = m.get(obj2.getFixture());
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if (time === undefined) {
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return -1;
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}
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return time;
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}
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}

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