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Remove duplicated code in joint class derivatives - with interface and method extraction #302

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Remove duplicated code in joint class derivatives - with interface and method extraction #302

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54 changes: 36 additions & 18 deletions dist/planck-with-testbed.d.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -446,6 +446,14 @@ declare class ShapeCastOutput {
// Algorithm by Gino van den Bergen.
// "Smooth Mesh Contacts with GJK" in Game Physics Pearls. 2010
declare const ShapeCast: (output: ShapeCastOutput, input: ShapeCastInput) => boolean;
interface ConstrainedBodiesJoint {
m_localCenterA: Vec2;
m_localCenterB: Vec2;
m_invMassA: number;
m_invMassB: number;
m_invIA: number;
m_invIB: number;
}
/**
* A joint edge is used to connect bodies and joints together in a joint graph
* where each body is a node and each joint is an edge. A joint edge belongs to
Expand Down Expand Up @@ -556,6 +564,7 @@ declare abstract class Joint {
* Shift the origin for any points stored in world coordinates.
*/
shiftOrigin(newOrigin: Vec2Value): void;
initializeMassAndInertiaConstraints(jointInstance: Joint & ConstrainedBodiesJoint): void;
abstract initVelocityConstraints(step: TimeStep): void;
abstract solveVelocityConstraints(step: TimeStep): void;
/**
Expand Down Expand Up @@ -2710,7 +2719,7 @@ declare function DistanceJoint(def: DistanceJointOpt, bodyA: Body, bodyB: Body,
* A distance joint constrains two points on two bodies to remain at a fixed
* distance from each other. You can view this as a massless, rigid rod.
*/
declare class DistanceJoint extends Joint {
declare class DistanceJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "distance-joint";
/**
* @param def DistanceJoint definition.
Expand Down Expand Up @@ -2807,7 +2816,7 @@ declare function FrictionJoint(def: FrictionJointOpt, bodyA: Body, bodyB: Body,
* Friction joint. This is used for top-down friction. It provides 2D
* translational friction and angular friction.
*/
declare class FrictionJoint extends Joint {
declare class FrictionJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "friction-joint";
constructor(def: FrictionJointDef);
/**
Expand Down Expand Up @@ -2954,7 +2963,7 @@ declare function RevoluteJoint(def: RevoluteJointOpt, bodyA: Body, bodyB: Body,
* relative rotation about the shared point. A maximum motor torque is provided
* so that infinite forces are not generated.
*/
declare class RevoluteJoint extends Joint {
declare class RevoluteJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "revolute-joint";
constructor(def: RevoluteJointDef);
constructor(def: RevoluteJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -3130,7 +3139,7 @@ declare function PrismaticJoint(def: PrismaticJointOpt, bodyA: Body, bodyB: Body
* joint limit to restrict the range of motion and a joint motor to drive the
* motion or to model joint friction.
*/
declare class PrismaticJoint extends Joint {
declare class PrismaticJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "prismatic-joint";
constructor(def: PrismaticJointDef);
constructor(def: PrismaticJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value, axis: Vec2Value);
Expand Down Expand Up @@ -3383,7 +3392,7 @@ declare function MotorJoint(def: MotorJointOpt, bodyA: Body, bodyB: Body): Motor
* typical usage is to control the movement of a dynamic body with respect to
* the ground.
*/
declare class MotorJoint extends Joint {
declare class MotorJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "motor-joint";
constructor(def: MotorJointDef);
constructor(def: MotorJointOpt, bodyA: Body, bodyB: Body);
Expand Down Expand Up @@ -3656,7 +3665,7 @@ declare function PulleyJoint(def: PulleyJointOpt, bodyA: Body, bodyB: Body, grou
* anchor points with static shapes to prevent one side from going to zero
* length.
*/
declare class PulleyJoint extends Joint {
declare class PulleyJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "pulley-joint";
constructor(def: PulleyJointDef);
constructor(def: PulleyJointOpt, bodyA: Body, bodyB: Body, groundA: Vec2Value, groundB: Vec2Value, anchorA: Vec2Value, anchorB: Vec2Value, ratio: number);
Expand Down Expand Up @@ -3781,7 +3790,7 @@ declare function RopeJoint(def: RopeJointOpt, bodyA: Body, bodyB: Body, anchor:
* sponginess, so I chose not to implement it that way. See {@link DistanceJoint} if you
* want to dynamically control length.
*/
declare class RopeJoint extends Joint {
declare class RopeJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "rope-joint";
constructor(def: RopeJointDef);
constructor(def: RopeJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -3876,7 +3885,7 @@ declare function WeldJoint(def: WeldJointOpt, bodyA: Body, bodyB: Body, anchor:
* A weld joint essentially glues two bodies together. A weld joint may distort
* somewhat because the island constraint solver is approximate.
*/
declare class WeldJoint extends Joint {
declare class WeldJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "weld-joint";
constructor(def: WeldJointDef);
constructor(def: WeldJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -4005,7 +4014,7 @@ declare function WheelJoint(def: WheelJointOpt, bodyA: Body, bodyB: Body, anchor
* point to line constraint with a rotational motor and a linear spring/damper.
* This joint is designed for vehicle suspensions.
*/
declare class WheelJoint extends Joint {
declare class WheelJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "wheel-joint";
constructor(def: WheelJointDef);
constructor(def: WheelJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value, axis: Vec2Value);
Expand Down Expand Up @@ -4770,6 +4779,14 @@ declare namespace planck {
// Algorithm by Gino van den Bergen.
// "Smooth Mesh Contacts with GJK" in Game Physics Pearls. 2010
const ShapeCast: (output: ShapeCastOutput, input: ShapeCastInput) => boolean;
interface ConstrainedBodiesJoint {
m_localCenterA: Vec2;
m_localCenterB: Vec2;
m_invMassA: number;
m_invMassB: number;
m_invIA: number;
m_invIB: number;
}
/**
* A joint edge is used to connect bodies and joints together in a joint graph
* where each body is a node and each joint is an edge. A joint edge belongs to
Expand Down Expand Up @@ -4880,6 +4897,7 @@ declare namespace planck {
* Shift the origin for any points stored in world coordinates.
*/
shiftOrigin(newOrigin: Vec2Value): void;
initializeMassAndInertiaConstraints(jointInstance: Joint & ConstrainedBodiesJoint): void;
abstract initVelocityConstraints(step: TimeStep): void;
abstract solveVelocityConstraints(step: TimeStep): void;
/**
Expand Down Expand Up @@ -7036,7 +7054,7 @@ declare namespace planck {
* A distance joint constrains two points on two bodies to remain at a fixed
* distance from each other. You can view this as a massless, rigid rod.
*/
class DistanceJoint extends Joint {
class DistanceJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "distance-joint";
/**
* @param def DistanceJoint definition.
Expand Down Expand Up @@ -7123,7 +7141,7 @@ declare namespace planck {
* Friction joint. This is used for top-down friction. It provides 2D
* translational friction and angular friction.
*/
class FrictionJoint extends Joint {
class FrictionJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "friction-joint";
constructor(def: FrictionJointDef);
/**
Expand Down Expand Up @@ -7252,7 +7270,7 @@ declare namespace planck {
* relative rotation about the shared point. A maximum motor torque is provided
* so that infinite forces are not generated.
*/
class RevoluteJoint extends Joint {
class RevoluteJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "revolute-joint";
constructor(def: RevoluteJointDef);
constructor(def: RevoluteJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -7414,7 +7432,7 @@ declare namespace planck {
* joint limit to restrict the range of motion and a joint motor to drive the
* motion or to model joint friction.
*/
class PrismaticJoint extends Joint {
class PrismaticJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "prismatic-joint";
constructor(def: PrismaticJointDef);
constructor(def: PrismaticJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value, axis: Vec2Value);
Expand Down Expand Up @@ -7627,7 +7645,7 @@ declare namespace planck {
* typical usage is to control the movement of a dynamic body with respect to
* the ground.
*/
class MotorJoint extends Joint {
class MotorJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "motor-joint";
constructor(def: MotorJointDef);
constructor(def: MotorJointOpt, bodyA: Body, bodyB: Body);
Expand Down Expand Up @@ -7850,7 +7868,7 @@ declare namespace planck {
* anchor points with static shapes to prevent one side from going to zero
* length.
*/
class PulleyJoint extends Joint {
class PulleyJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "pulley-joint";
constructor(def: PulleyJointDef);
constructor(def: PulleyJointOpt, bodyA: Body, bodyB: Body, groundA: Vec2Value, groundB: Vec2Value, anchorA: Vec2Value, anchorB: Vec2Value, ratio: number);
Expand Down Expand Up @@ -7951,7 +7969,7 @@ declare namespace planck {
* sponginess, so I chose not to implement it that way. See {@link DistanceJoint} if you
* want to dynamically control length.
*/
class RopeJoint extends Joint {
class RopeJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "rope-joint";
constructor(def: RopeJointDef);
constructor(def: RopeJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -8036,7 +8054,7 @@ declare namespace planck {
* A weld joint essentially glues two bodies together. A weld joint may distort
* somewhat because the island constraint solver is approximate.
*/
class WeldJoint extends Joint {
class WeldJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "weld-joint";
constructor(def: WeldJointDef);
constructor(def: WeldJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value);
Expand Down Expand Up @@ -8151,7 +8169,7 @@ declare namespace planck {
* point to line constraint with a rotational motor and a linear spring/damper.
* This joint is designed for vehicle suspensions.
*/
class WheelJoint extends Joint {
class WheelJoint extends Joint implements ConstrainedBodiesJoint {
static TYPE: "wheel-joint";
constructor(def: WheelJointDef);
constructor(def: WheelJointOpt, bodyA: Body, bodyB: Body, anchor: Vec2Value, axis: Vec2Value);
Expand Down
2 changes: 1 addition & 1 deletion dist/planck-with-testbed.d.ts.map
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71 changes: 17 additions & 54 deletions dist/planck-with-testbed.js
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Original file line number Diff line number Diff line change
Expand Up @@ -4388,6 +4388,14 @@
* Shift the origin for any points stored in world coordinates.
*/
Joint.prototype.shiftOrigin = function (newOrigin) { };
Joint.prototype.initializeMassAndInertiaConstraints = function (jointInstance) {
jointInstance.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
jointInstance.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
jointInstance.m_invMassA = this.m_bodyA.m_invMass;
jointInstance.m_invMassB = this.m_bodyB.m_invMass;
jointInstance.m_invIA = this.m_bodyA.m_invI;
jointInstance.m_invIB = this.m_bodyB.m_invI;
};
/**
* @internal @deprecated
* Temporary for backward compatibility, will be removed.
Expand Down Expand Up @@ -10412,12 +10420,7 @@
return 0.0;
};
DistanceJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var cA = this.m_bodyA.c_position.c;
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
Expand Down Expand Up @@ -10703,12 +10706,7 @@
return inv_dt * this.m_angularImpulse;
};
FrictionJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
var wA = this.m_bodyA.c_velocity.w;
Expand Down Expand Up @@ -11326,12 +11324,7 @@
return inv_dt * this.m_impulse.z;
};
RevoluteJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
var wA = this.m_bodyA.c_velocity.w;
Expand Down Expand Up @@ -11966,12 +11959,7 @@
return inv_dt * this.m_impulse.y;
};
PrismaticJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var cA = this.m_bodyA.c_position.c;
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
Expand Down Expand Up @@ -12881,12 +12869,7 @@
return inv_dt * this.m_angularImpulse;
};
MotorJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var cA = this.m_bodyA.c_position.c;
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
Expand Down Expand Up @@ -13496,12 +13479,7 @@
return 0.0;
};
PulleyJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var cA = this.m_bodyA.c_position.c;
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
Expand Down Expand Up @@ -13790,12 +13768,7 @@
return 0.0;
};
RopeJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var cA = this.m_bodyA.c_position.c;
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
Expand Down Expand Up @@ -14100,12 +14073,7 @@
return inv_dt * this.m_impulse.z;
};
WeldJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var aA = this.m_bodyA.c_position.a;
var vA = this.m_bodyA.c_velocity.v;
var wA = this.m_bodyA.c_velocity.w;
Expand Down Expand Up @@ -14596,12 +14564,7 @@
return inv_dt * this.m_motorImpulse;
};
WheelJoint.prototype.initVelocityConstraints = function (step) {
this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
this.m_invMassA = this.m_bodyA.m_invMass;
this.m_invMassB = this.m_bodyB.m_invMass;
this.m_invIA = this.m_bodyA.m_invI;
this.m_invIB = this.m_bodyB.m_invI;
this.initializeMassAndInertiaConstraints(this);
var mA = this.m_invMassA;
var mB = this.m_invMassB;
var iA = this.m_invIA;
Expand Down
2 changes: 1 addition & 1 deletion dist/planck-with-testbed.js.map
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2 changes: 1 addition & 1 deletion dist/planck-with-testbed.min.js
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2 changes: 1 addition & 1 deletion dist/planck-with-testbed.min.js.map
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