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optimizations
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@BurntWaffleCake
BurntWaffleCake committed Nov 3, 2023
2 parents 50c4768 + 6fc5521 commit 85f7a3d
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Showing 3 changed files with 319 additions and 22 deletions.
3 changes: 3 additions & 0 deletions articleTemplateObjects/csArticleNavObject.html
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Original file line number Diff line number Diff line change
Expand Up @@ -88,8 +88,11 @@
<a href="../CS-II/Essays/FingerPrints.html" target="_top" class="article-nav-link">Fingerprints</a>
<a href="../CS-III/Projects/ConspiracyTheory.html" target="_top" class="article-nav-link">Conspiracy Theories</a>
<<<<<<< HEAD
<<<<<<< HEAD

=======
>>>>>>> 362550b6efb0c418b86421f568ea212f11256f51
=======
>>>>>>> optimization
</nav>
</body>
272 changes: 272 additions & 0 deletions javascript/PhysicsEngine/Polygon.js
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Original file line number Diff line number Diff line change
@@ -1,6 +1,10 @@
import { Vector2 } from "./Vector2.js";

<<<<<<< HEAD
const debug = true;
=======
const debug = false;
>>>>>>> optimization

function minDisToLineSeg(a, b, e) {
let ab = b.clone().subtract(a);
Expand Down Expand Up @@ -310,11 +314,33 @@ export class Polygon {
this.i = (1 / 2) * this.mass * this.radius * this.radius;
this.invI = 1 / this.i;

<<<<<<< HEAD
// this.fillColor = "rgb("+ String(Math.floor(Math.random() * 255)) +","+ String(Math.floor(Math.random() * 255)) +","+ String(Math.floor(Math.random() * 255)) +")"
this.fillColor = "rgb(255, 255, 255)";
this.strokeColor = "rgb(255, 255, 255)";
}

=======
this.fillColor =
"rgb(" +
String(Math.floor(Math.random() * 255)) +
"," +
String(Math.floor(Math.random() * 255)) +
"," +
String(Math.floor(Math.random() * 255)) +
")";
// this.fillColor = "rgb(255, 255, 255)"
this.strokeColor = "rgb(255, 255, 255)";
}

boundsCollide(polygon) {
return (
(polygon.pos.x - this.pos.x) ** 2 + (polygon.pos.y - this.pos.y) ** 2 <=
(this.radius + polygon.radius) ** 2
);
}

>>>>>>> optimization
getArea() {
let crossSum = 0;
for (let i = 0; i < this.points.length - 1; i++) {
Expand All @@ -332,8 +358,12 @@ export class Polygon {
}

toObjectSpace(vector = Vector2.prototype) {
<<<<<<< HEAD
let delta = vector.clone().subtract(this.pos);
return this.toWorldSpace(delta);
=======
return vector.clone().subtract(this.pos).rotate(-this.rot);
>>>>>>> optimization
}

toWorldSpace(vector) {
Expand Down Expand Up @@ -365,7 +395,10 @@ export class Polygon {

applyImpulse(impulse, pos) {
let collArm = pos.clone().subtract(this.pos);
<<<<<<< HEAD
console.log(impulse.clone().scale(this.invMass));
=======
>>>>>>> optimization
this.vel.add(impulse.clone().scale(this.invMass));
this.rotVel += this.invI * collArm.cross(impulse);
}
Expand All @@ -389,7 +422,11 @@ export class Polygon {
ctx.lineTo(point.x, point.y);
}
ctx.lineTo(worldCoords[0].x, worldCoords[0].y);
<<<<<<< HEAD
// ctx.fill()
=======
ctx.fill();
>>>>>>> optimization
ctx.stroke();

//draw foward
Expand Down Expand Up @@ -491,10 +528,17 @@ export class Polygon {
worldPoint
);

<<<<<<< HEAD
if (dis < minDis - 0.5) {
minDis = dis;
collPoints = [worldPoint];
} else if (dis < minDis + 0.5) {
=======
if (dis < minDis - 0.25) {
minDis = dis;
collPoints = [worldPoint];
} else if (dis < minDis + 0.25) {
>>>>>>> optimization
collPoints.push(worldPoint);
}
}
Expand All @@ -509,10 +553,17 @@ export class Polygon {
worldPoint
);

<<<<<<< HEAD
if (dis < minDis - 0.5) {
minDis = dis;
collPoints = [worldPoint];
} else if (dis < minDis + 0.5) {
=======
if (dis < minDis - 0.25) {
minDis = dis;
collPoints = [worldPoint];
} else if (dis < minDis + 0.25) {
>>>>>>> optimization
collPoints.push(worldPoint);
}
}
Expand Down Expand Up @@ -540,6 +591,7 @@ export class Polygon {
polygon.pos.add(normal.clone().scale(mvt / 2));
}

<<<<<<< HEAD
let impulses = [];
let collArm1s = [];
let collArm2s = [];
Expand Down Expand Up @@ -681,6 +733,225 @@ export class Polygon {
let axis = polygon
.toWorldSpace(face.normal.clone())
.subtract(polygon.pos);
=======
if (polygon.mass <= 0 && this.mass <= 0) {
return;
}

let impulses = [];
let impulseList = [];
let frictionImpulses = [];
let collArm1s = [];
let collArm2s = [];

collisionPoints.forEach((collPoint, index) => {
let collArm1 = collPoint.clone().subtract(this.pos);
let collArm2 = collPoint.clone().subtract(polygon.pos);

collArm1s.push(collArm1);
collArm2s.push(collArm2);

let rotVel1 = new Vector2(
-this.rotVel * collArm1.y,
this.rotVel * collArm1.x
);
let rotVel2 = new Vector2(
-polygon.rotVel * collArm2.y,
polygon.rotVel * collArm2.x
);

let closVel1 = this.vel.clone().add(rotVel1);
let closVel2 = polygon.vel.clone().add(rotVel2);

let impAug1 = collArm1.cross(normal);
impAug1 = impAug1 * impAug1 * this.invI;
let impAug2 = collArm2.cross(normal);
impAug2 = impAug2 * impAug2 * polygon.invI;

let relVel = closVel1.clone().subtract(closVel2);
let sepVel = relVel.dot(normal);
let newSepVel = -sepVel * Math.min(this.e, polygon.e);
let vSepDiff = newSepVel - sepVel;

let impulse =
vSepDiff /
(this.invMass + polygon.invMass + impAug1 + impAug2) /
collisionPoints.length;
let impulseVec = normal.clone().scale(impulse);

impulseList.push(impulse);
impulses.push(impulseVec);
});

impulses.forEach((impulse, index) => {
let collArm1 = collArm1s[index];
let collArm2 = collArm2s[index];

this.vel.add(impulse.clone().scale(this.invMass));
polygon.vel.subtract(impulse.clone().scale(polygon.invMass));

this.rotVel += this.invI * collArm1.cross(impulse);
polygon.rotVel -= polygon.invI * collArm2.cross(impulse);
});

collisionPoints.forEach((collPoint, index) => {
let collArm1 = collPoint.clone().subtract(this.pos);
let collArm2 = collPoint.clone().subtract(polygon.pos);

collArm1s[index] = collArm1;
collArm2s[index] = collArm2;

let rotVel1 = new Vector2(
-this.rotVel * collArm1.y,
this.rotVel * collArm1.x
);
let rotVel2 = new Vector2(
-polygon.rotVel * collArm2.y,
polygon.rotVel * collArm2.x
);

let closVel1 = this.vel.clone().add(rotVel1);
let closVel2 = polygon.vel.clone().add(rotVel2);

let relVel = closVel1.clone().subtract(closVel2);
let tangent = relVel
.clone()
.subtract(normal.clone().scale(relVel.dot(normal)));
if (tangent.magnitude() < 0.005) {
return;
} //tangent is near zero
tangent.normalize();

let frictionAug1 = collArm1.cross(tangent);
frictionAug1 = frictionAug1 * frictionAug1 * this.invI;
let frictionAug2 = collArm2.cross(tangent);
frictionAug2 = frictionAug2 * frictionAug2 * polygon.invI;

let impulseFriction =
relVel.dot(tangent) /
(frictionAug1 + frictionAug2 + this.invMass + polygon.invMass) /
collisionPoints.length;

let sf = (this.sf + polygon.sf) * 0.5;
let df = (this.df + polygon.df) * 0.5;

let impFricVec;
let impulse = impulseList[index];
if (impulseFriction <= impulse * sf) {
impFricVec = tangent.scale(-impulseFriction);
} else {
impFricVec = tangent.clone().scale(impulse * df);
}

frictionImpulses.push(impFricVec);
});

frictionImpulses.forEach((impulse, index) => {
let collArm1 = collArm1s[index];
let collArm2 = collArm2s[index];

this.vel.add(impulse.clone().scale(this.invMass));
polygon.vel.subtract(impulse.clone().scale(polygon.invMass));

this.rotVel += this.invI * collArm1.cross(impulse);
polygon.rotVel -= polygon.invI * collArm2.cross(impulse);
});
}

testCollision(polygon, ctx) {
let minOverlap = Number.MAX_VALUE;
let normal;

for (let face of this.sides) {
let axis = this.toWorldSpace(face.normal.clone()).subtract(this.pos);
>>>>>>> optimization

let selfProj = this.projectToAxis(axis);
let compProj = polygon.projectToAxis(axis);

let overlap = this.segmentOverlaps(
selfProj.minMag,
selfProj.maxMag,
compProj.minMag,
compProj.maxMag
);
if (overlap == false) {
return false;
} else if (overlap < minOverlap) {
minOverlap = overlap;
normal = axis;
}
<<<<<<< HEAD
let selfMinAxis = axis
.clone()
.scale(selfProj.minMag / 5)
.add(polygon.pos);
let selfMaxAxis = axis
.clone()
.scale(selfProj.maxMag / 5)
.add(polygon.pos);
let compMinAxis = axis
.clone()
.scale(compProj.minMag / 5)
.add(polygon.pos);
let compMaxAxis = axis
.clone()
.scale(compProj.maxMag / 5)
.add(polygon.pos);
=======
// debug render //
let selfMinAxis = axis
.clone()
.scale(selfProj.minMag / 5)
.add(this.pos);
let selfMaxAxis = axis
.clone()
.scale(selfProj.maxMag / 5)
.add(this.pos);
let compMinAxis = axis
.clone()
.scale(compProj.minMag / 5)
.add(this.pos);
let compMaxAxis = axis
.clone()
.scale(compProj.maxMag / 5)
.add(this.pos);
>>>>>>> optimization

if (debug) {
ctx.fillStyle = overlap ? "rgb(0,255,255)" : "rgb(0,0,255)";
ctx.fillRect(selfMinAxis.x - 2.5, selfMinAxis.y - 2.5, 5, 5);
ctx.fillRect(selfMaxAxis.x - 2.5, selfMaxAxis.y - 2.5, 5, 5);
ctx.fillStyle = overlap ? "rgb(255, 0 ,255)" : "rgb(255,0,0)";
ctx.fillRect(compMinAxis.x - 2.5, compMinAxis.y - 2.5, 5, 5);
ctx.fillRect(compMaxAxis.x - 2.5, compMaxAxis.y - 2.5, 5, 5);
}
}

<<<<<<< HEAD
ctx.strokeStyle = "rgb(255,0,0)";
ctx.beginPath();
ctx.moveTo(this.pos.x, this.pos.y);
ctx.lineTo(
this.pos.x + normal.x * minOverlap,
this.pos.y + normal.y * minOverlap
);
ctx.stroke();

let delta = polygon.pos.clone().subtract(this.pos).normalize();
if (delta.dot(normal) < 0) {
normal.scale(-1);
}

let collisionPoints = this.findCollidingPoint(polygon, ctx);
return { mvt: minOverlap, normal: normal, points: collisionPoints };
}

=======
for (let face of polygon.sides) {
let axis = polygon
.toWorldSpace(face.normal.clone())
.subtract(polygon.pos);

let selfProj = this.projectToAxis(axis);
let compProj = polygon.projectToAxis(axis);
Expand Down Expand Up @@ -742,6 +1013,7 @@ export class Polygon {
return { mvt: minOverlap, normal: normal, points: collisionPoints };
}

>>>>>>> optimization
tick(dt, t) {
if (this.anchored) {
this.vel.set(0, 0);
Expand Down
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