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dm3/craft.js

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class Craft{
constructor(opt={}){
this.fix=opt.fix||[]
this.edges=opt.edges||[]
this.faces=opt.faces||[]
this.joints=opt.joints||[]
this.complexEdges=[]
this.complexFaces=[]
this.p_jt=[[],[],[]]
this.o_jt=[[],[],[]]
this.fc=[]
this.weight=0;this.m_center=[0,0,0]
this.reactive=false
this.reactSetup=opt.reactive||{}
this.reactSetup.generateFriction=this.reactSetup.generateFriction||'vmultf(vadd(this.anchor.pr_fromGrid(this.p_fix[psz[i][2]]),vmultf(this.anchor.fromGrid(psz[i][0]),-1)),1)'
}
addFixture(p,c={},joint=-1){
if(!(this.joints[joint]||joint<0))return -1
let y=p,jt=joint,t=0,x=this.joints.length
while(t<x){
t++
y=vadd(y,jt<0?[0,0,0]:vmultf(this.joints[jt].offset,-1))
if(jt<0)break
else jt=this.joints[jt].joint
}
this.fix.push({joint:joint,grip:c.grip||cnst.grip,rebound:c.rebound||cnst.rebound,slide:c.slide||cnst.slide,offset:y,ptCol:['#FF0',-1]})
return this.fix.length-1
}
addJoint(p,axis=[0,1,0],joint=-1,opt={}){
if(!(this.joints[joint]||joint<0))return -1
let y=p,jt=joint,t=0,x=this.joints.length
while(t<x){
t++
y=vadd(y,jt<0?[0,0,0]:vmultf(this.joints[jt].offset,-1))
if(jt<0)break
else jt=this.joints[jt].joint
}
this.joints.push({t:0,joint:joint,axis:axis,offset:y,friction:opt.friction||10,stiff:opt.stiff||0.7,a:new Anchor(),weight:0,m_center:[0,0,0],chain:[]})
return this.joints.length-1
}
addEdge(a,b,w=1,c='#FF0'){
this.edges.push({p:[a,b],w:w,c:c})
if(this.fix[a].ptCol[1]<w)this.fix[a].ptCol=[c,w]
if(this.fix[b].ptCol[1]<w)this.fix[b].ptCol=[c,w]
return this.edges.length-1
}
addFace(a,b,c,w=1,n=0,s="#BBB"){
this.faces.push({p:[a,b,c],w:w,n:n,c:s,offset:[0,0,0],norm:[0,0,0],force:0})
return this.faces.length-1
}
setup(){
this.reactive=new Reactive(this.reactSetup)
this.reactive.returnCollides=1
let x=this.edges.length
for(let i=0;i<x;i++){
if(this.fix[this.edges[i].p[0]].joint==this.fix[this.edges[i].p[1]].joint){
if(this.fix[this.edges[i].p[0]].joint<0){
let a=vmag(vadd(this.fix[this.edges[i].p[0]].offset,vmultf(this.fix[this.edges[i].p[1]].offset,-1)))*this.edges[i].w
this.weight+=a
this.m_center=vadd(this.m_center,vmultf(vadd(this.fix[this.edges[i].p[0]].offset,this.fix[this.edges[i].p[1]].offset),a/2))
}else{
let a=vmag(vadd(this.fix[this.edges[i].p[0]].offset,vmultf(this.fix[this.edges[i].p[1]].offset,-1)))*this.edges[i].w
this.joints[this.fix[this.edges[i].p[0]].joint].weight+=a
this.joints[this.fix[this.edges[i].p[0]].joint].m_center=vadd(this.joints[this.fix[this.edges[i].p[0]].joint].m_center,
vmultf(vadd(this.fix[this.edges[i].p[0]].offset,this.fix[this.edges[i].p[1]].offset),a/2))
}
}else{
this.complexEdges.push(this.edges[i])
}
}
x=this.faces.length
for(let i=0;i<x;i++){
if(this.fix[this.faces[i].p[0]].joint==this.fix[this.faces[i].p[1]].joint&&this.fix[this.faces[i].p[2]].joint==this.fix[this.faces[i].p[1]].joint){
if(this.fix[this.faces[i].p[0]].joint<0){
let a=(
vmag(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
vmag(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
Math.sqrt(1-sqrx(vdot(
vnorm(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))),
vnorm(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))
)))
)/8
this.faces[i].force=a*this.faces[i].n
this.faces[i].norm=vnorm(vcross(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)),vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))))
this.faces[i].offset=vmultf(vadd(
this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
),1/3)
this.weight+=a
this.m_center=vadd(this.m_center,vmultf(vadd(
this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
),a*this.faces[i].w/3))
}else{
let a=(
vmag(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
vmag(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))*
Math.sqrt(1-sqrx(vdot(
vnorm(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))),
vnorm(vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)))
)))
)/8
this.faces[i].force=a*this.faces[i].n
this.faces[i].norm=vnorm(vcross(vadd(this.fix[this.faces[i].p[0]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1)),vadd(this.fix[this.faces[i].p[2]].offset,vmultf(this.fix[this.faces[i].p[1]].offset,-1))))
this.faces[i].offset=vmultf(vadd(
this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
),1/3)
this.m_center=vadd(this.m_center,vmultf(vadd(
this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
),a*this.faces[i].w/3))
this.joints[this.fix[this.faces[i].p[0]].joint].weight+=a
this.joints[this.fix[this.faces[i].p[0]].joint].m_center=vadd(this.joints[this.fix[this.faces[i].p[0]].joint].m_center,vmultf(vadd(
this.fix[this.faces[i].p[0]].offset,vadd(this.fix[this.faces[i].p[1]].offset,this.fix[this.faces[i].p[2]].offset)
),a/3))
}
}else{
this.complexFaces.push(this.faces[i])
}
}
x=this.joints.length
for(let i=0;i<x;i++){
if(this.joints[i].weight)this.joints[i].m_center=vmultf(this.joints[i].m_center,1/this.joints[i].weight)
let c=0,z=this.joints[i].joint;this.joints[i].chain=[]
while(z>-1||c>x){
c++
this.joints[i].chain.push(z)
z=this.joints[z].joint
}
}
this.m_center=this.weight?vmultf(this.m_center,1/this.weight):[0,0,0]
this.weld()
this.weld()
this.reactive.p_fix=[]
x=this.reactive.fix.length
for(let i=0;i<x;i++){
this.fc.push(this.fix[i].ptCol[0])
this.reactive.p_fix.push(this.reactive.fix[i])
}
}
weld(){
this.reactive.p_fix=[]
let x=this.reactive.fix.length
for(let i=0;i<x;i++){
this.reactive.p_fix.push(this.reactive.fix[i])
}
this.reactive.fix=[]
this.reactive.edges=[...this.edges]
let jp=[],jr=[],offset=[0,0,0],axes=[[1,0,0],[0,1,0]],c,t
x=this.joints.length
for(let i=0;i<x;i++){
this.joints[i].a.p=[0,0,0]
this.joints[i].a.v=[0,0,0]
let z=this.joints[i].joint
offset=[...this.joints[i].offset]
axes=this.joints[i].a.a
c=0
while(z>-1&&c<x){
c++
if(jp[z]){
offset=vadd(jp[z],vtransform(jr[z],[0,0,0],offset))
axes=[vnorm(vtransform(jr[z],[0,0,0],axes[0])),vnorm(vtransform(jr[z],[0,0,0],axes[1]))]
break
}
offset=vadd(this.joints[z].offset,this.joints[z].a.gridNormal(offset))
axes=[this.joints[z].a.gridNormal(axes[0]),this.joints[z].a.gridNormal(axes[1])]
z=this.joints[z].joint
}
jp.push(offset)
jr.push(axes)
}
this.o_jt=[[],[],[...this.p_jt[2]]]
for(let i=0;i<this.p_jt[0].length;i++){
this.o_jt[0].push([...this.p_jt[0][i]])
}
for(let i=0;i<this.p_jt[1].length;i++){
this.o_jt[1].push([...this.p_jt[1][i]])
}
this.p_jt=[jp,jr]
x=this.fix.length
for(let i=0;i<x;i++){
if(this.fix[i].joint<0){
this.reactive.fix.push(this.fix[i].offset)
}else{
this.reactive.fix.push(vtransform(jr[this.fix[i].joint],jp[this.fix[i].joint],this.fix[i].offset))
}
}
offset=[0,0,0];c=0
x=this.joints.length
for(let i=0;i<x;i++){
c+=this.joints[i].weight
offset=vadd(offset,vmultf(vadd(jp[i],vtransform(jr[i],[0,0,0],this.joints[i].m_center)),this.joints[i].weight))
}
c+=this.weight
offset=vadd(offset,vmultf(this.m_center,this.weight))
offset=vmultf(offset,-1/c)
this.p_jt.push(offset)
x=this.reactive.fix.length
for(let i=0;i<x;i++){
this.reactive.fix[i]=vadd(this.reactive.fix[i],offset)
}
}
center(){
let offset=[0,0,0],c=0,x=this.joints.length
for(let i=0;i<x;i++){
c+=this.joints[i].weight
offset=vadd(offset,vmultf(vadd(this.p_jt[0][i],vtransform(this.p_jt[1][i],[0,0,0],this.joints[i].m_center)),this.joints[i].weight))
}
c+=this.weight
offset=vadd(offset,vmultf(this.m_center,this.weight))
offset=vmultf(offset,-1/c)
this.m_center=vadd(this.m_center,offset)
x=this.fix.length
for(let i=0;i<x;i++){
if(this.fix[i].joint<0)this.fix[i].offset=vadd(this.fix[i].offset,offset)
}
x=this.joints.length
for(let i=0;i<x;i++){
this.joints[i].offset=vadd(this.joints[i].offset,offset)
}
}
update(dt=1){
let t_weight=this.weight
for(let i=0;i<this.joints.length;i++){
t_weight+=this.joints[i].weight
}
for(let i=0;i<this.faces.length;i++){
if(this.faces[i].force){
let p=[0,0,0],op=[0,0,0],d=[0,0,0]
if(this.fix[this.faces[i].p[0]].joint<0){
p=this.faces[i].offset
op=this.faces[i].offset
d=this.faces[i].norm
}else{
p=vadd(this.p_jt[0][this.fix[this.faces[i].p[0]].joint],vtransform(this.p_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].offset))
op=vadd(this.o_jt[0][this.fix[this.faces[i].p[0]].joint],vtransform(this.o_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].offset))
d=vtransform(this.p_jt[1][this.fix[this.faces[i].p[0]].joint],[0,0,0],this.faces[i].norm)
op=vadd(p,vmultf(vadd(op,vmultf(p,-1)),20))
}
this.applyGlobForce(
this.fix[this.faces[i].p[0]].joint,
vadd(p,vmultf(this.p_jt[2],1)),
vmultf(d,vdot(
vadd(this.reactive.anchor.pr_fromGrid(vadd(op,vmultf(this.p_jt[2],-1))),vmultf(this.reactive.anchor.fromGrid(vadd(p,vmultf(this.p_jt[2],-1))),-1)),
this.reactive.anchor.gridNormal(d)
)*this.faces[i].force/t_weight*20)
)
}
}
this.weld()
if(this.reactive){
this.reactive.anchor.update(dt)
for(let i=0;i<this.joints.length;i++){
this.joints[i].a.update(dt)
if(this.joints[i].axis[0]!=0){
this.joints[i].a.a[0]=this.joints[i].axis
this.joints[i].a.a[1]=vsnap(this.joints[i].a.a[1],this.joints[i].axis)
}
if(this.joints[i].axis[1]!=0){
this.joints[i].a.a[1]=this.joints[i].axis
this.joints[i].a.a[0]=vsnap(this.joints[i].a.a[0],this.joints[i].axis)
}
if(this.joints[i].axis[2]!=0){
this.joints[i].a.a[0]=vsnap(this.joints[i].a.a[0],this.joints[i].axis)
this.joints[i].a.a[1]=vsnap(this.joints[i].a.a[1],this.joints[i].axis)
if(vmag(vadd(vcross(...this.joints[i].a.a),this.joints[i].axis))<1)this.joints[i].a.a[1]=vmultf(this.joints[i].a.a[1],-1)
}
}
}
}
applyJointForce(j,p2,d2){
let p=[...p2],d=[...d2]
if(this.joints[j]){
let axes=this.p_jt[1][j]
p=vtransform(axes,[0,0,0],p);d=vtransform(axes,[0,0,0],d)
let weightSum=this.weight,weightJoint=0,x=this.joints.length
for(let i=0;i<x;i++){
weightSum+=this.joints[i].weight
if(i==j||this.joints[i].chain.includes(j))weightJoint+=this.joints[i].weight
}
this.joints[j].a.applyForce(p2,vmultf(d2,weightJoint/weightSum/2-1/2))
this.joints[j].a.applyForce(vmultf(p2,-1),vmultf(d2,1/2-weightJoint/weightSum/2))
this.reactive.applyForce(p,vmultf(d,weightJoint/weightSum/2))
this.reactive.applyForce(vmultf(p,-1),vmultf(d,-weightJoint/weightSum/2))
}
}
/*
applyAbsolJointForce(j,p,d2){
let d=vsnap(vdetransform(
this.p_jt[1][j],
[0,0,0],
d2
),this.joints[j].axis)
this.applyJointForce(j,p,d)
}
applyWorldJointForce(j,p,d2){
let np=vsnap(vdetransform(
this.p_jt[1][j],
[0,0,0],
vadd(p,vadd(vmultf(this.p_jt[0][j],-1),vmultf(this.p_jt[2],-1)))
),this.joints[j].axis),
d=vsnap(vdetransform(
this.p_jt[1][j],
[0,0,0],
d2
),this.joints[j].axis)
this.applyJointForce(j,np,d)
}
*/
turnJoint(j,target2,reference2,force,damping){
if(!this.joints[j])return
if(this.joints[j].t==0){
let target=vmultf(vnorm(target2),-1),reference=vnorm(reference2)
this.applyJointForce(j,vsnap(reference,this.joints[j].axis),vmultf(vsnap(this.joints[j].a.absolNormal(target),this.joints[j].axis),force))
this.applyJointForce(j,this.joints[j].axis[0]?[0,1,0]:[1,0,0],vmultf(this.joints[j].a.r[this.joints[j].axis[0]?1:0],damping))
}
}
applyGlobForce(j,p,d){
let jt=j,c=0
while(jt>-1&&c<this.joints.length){
this.applyJointForce(
jt,
vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
vadd(p,vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
),this.joints[jt].axis),
vmultf(
vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
d
),this.joints[jt].axis),
-this.joints[jt].stiff
)
)
jt=this.joints[jt].joint
c++
}
this.reactive.anchor.applyForce(p,d)
}
collide(dt,p,d){
let dt2=1//(1+(dt-1)*3)
if(this.reactive){
let collides=this.reactive.collide(p,d)
if(!collides.length)return
let z=collides.length,n=[0]
for(let i=0;i<this.joints.length;i++){
n.push(0)
}
for(let i=0;i<z;i++){
n[this.fix[collides[i][0][2]].joint+1]++
}
for(let i=0;i<z;i++){
let rebound=this.fix[collides[i][0][2]].rebound,grip=this.fix[collides[i][0][2]].grip/dt,jt=this.fix[collides[i][0][2]].joint,c=0
while(jt>-1&&c<this.joints.length){
let np=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
vadd(collides[i][0][0],vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
),this.joints[jt].axis)
let fc=[
this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-collides[i][0][1][1]/z*rebound/cnst.inertia.mov)),
this.reactive.anchor.absolNormal(vmultf(collides[i][1],1/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov))
]
fc[0]=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
fc[0]
),this.joints[jt].axis)
fc[1]=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
fc[1]
),this.joints[jt].axis)
this.applyJointForce(jt,vnorm(np),vmultf(fc[0],-dt2*this.joints[jt].stiff))
this.applyJointForce(jt,vnorm(np),vmultf(fc[1],-dt2*dt2*this.joints[jt].stiff))
jt=this.joints[jt].joint
c++
}
this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-dt2*collides[i][0][1][1]/z*rebound/cnst.inertia.mov)))
this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][1],dt2*dt2/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
}
}
}
collidef(dt,g){
let dt2=1//(1+(dt-1)*3)
if(this.reactive){
let collides=this.reactive.collidef(g)
if(!collides.length)return
let z=collides.length,n=[0]
for(let i=0;i<this.joints.length;i++){
n.push(0)
}
for(let i=0;i<z;i++){
n[this.fix[collides[i][0][2]].joint+1]++
}
for(let i=0;i<z;i++){
let rebound=this.fix[collides[i][0][2]].rebound,grip=this.fix[collides[i][0][2]].grip,slide=this.fix[collides[i][0][2]].slide,jt=this.fix[collides[i][0][2]].joint,c=0
while(jt>-1&&c<this.joints.length){
let np=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
vadd(collides[i][0][0],vadd(vmultf(this.p_jt[0][jt],-1),vmultf(this.p_jt[2],-1)))
),this.joints[jt].axis)
let fc=[
this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-collides[i][0][1][1]/z*rebound/cnst.inertia.mov)),
this.reactive.anchor.absolNormal(vmultf(collides[i][1],1/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov))
]
fc[0]=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
fc[0]
),this.joints[jt].axis)
fc[1]=vsnap(vdetransform(
this.p_jt[1][jt],
[0,0,0],
fc[1]
),this.joints[jt].axis)
this.applyJointForce(jt,vnorm(np),vmultf(fc[0],-dt2*this.joints[jt].stiff))
this.applyJointForce(jt,vnorm(np),vmultf(fc[1],-dt2*dt2*this.joints[jt].stiff))
jt=this.joints[jt].joint
c++
}
this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],-dt2*collides[i][0][1][1]/z*rebound/cnst.inertia.mov)))
this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(collides[i][0][3],vdot(collides[i][1],collides[i][0][3])/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
this.reactive.anchor.applyForce(vnorm(collides[i][0][0]),this.reactive.anchor.absolNormal(vmultf(vsnap(collides[i][1],collides[i][0][3]),slide/2/n[this.fix[collides[i][0][2]].joint+1]*grip/cnst.inertia.mov)))
}
}
}
applyForce(p,d){
if(this.reactive)this.reactive.applyForce(p,d)
}
toGrid(p){
if(this.reactive)return this.reactive.toGrid(p)
}
fromGrid(p){
if(this.reactive)return this.reactive.fromGrid(p)
}
absolNormal(p){
if(this.reactive)return this.reactive.absolNormal(p)
}
gridNormal(p){
if(this.reactive)return this.reactive.gridNormal(p)
}
pr_toGrid(p){
if(this.reactive)return this.reactive.pr_toGrid(p)
}
pr_fromGrid(p){
if(this.reactive)return this.reactive.pr_fromGrid(p)
}
pr_absolNormal(p){
if(this.reactive)return this.reactive.pr_absolNormal(p)
}
pr_gridNormal(p){
if(this.reactive)return this.reactive.pr_gridNormal(p)
}
}
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