update

w0rm · Mar 23, 2024 · f216899 · f216899
1 parent 9eb642e
commit f216899
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Showing 6 changed files with 38 additions and 26 deletions.
diff --git a/examples/review/src/ReviewConfig.elm b/examples/review/src/ReviewConfig.elm
@@ -34,6 +34,6 @@ config =
     , NoUnused.Parameters.rule
     , NoUnused.Patterns.rule
     , NoUnused.Variables.rule
-    , Simplify.rule
+    , Simplify.rule Simplify.defaults
     , NoUnoptimizedRecursion.rule (NoUnoptimizedRecursion.optOutWithComment "IGNORE TCO")
     ]
diff --git a/sandbox/review/src/ReviewConfig.elm b/sandbox/review/src/ReviewConfig.elm
@@ -35,6 +35,6 @@ config =
     , NoUnused.Parameters.rule
     , NoUnused.Patterns.rule
     , NoUnused.Variables.rule
-    , Simplify.rule
+    , Simplify.rule Simplify.defaults
     , NoUnoptimizedRecursion.rule (NoUnoptimizedRecursion.optOutWithComment "IGNORE TCO")
     ]
diff --git a/src/Collision/ConvexConvex.elm b/src/Collision/ConvexConvex.elm
@@ -15,12 +15,12 @@ addContacts : Convex -> Convex -> List Contact -> List Contact
 addContacts convex1 convex2 contacts =
     case findSeparatingAxis convex1 convex2 of
         Just separatingAxis ->
-            let
-                reversedSeparatingAxis =
-                    Vec3.negate separatingAxis
-            in
             case bestFace convex1.faces separatingAxis of
                 Just face1 ->
+                    let
+                        reversedSeparatingAxis =
+                            Vec3.negate separatingAxis
+                    in
                     case bestFace convex2.faces reversedSeparatingAxis of
                         Just face2 ->
                             clipTwoFaces face1 face2 reversedSeparatingAxis contacts

diff --git a/src/Internal/Body.elm b/src/Internal/Body.elm
@@ -113,15 +113,13 @@ compound shapes data =
         { id = -1
         , data = data
         , material = Material.default
-        , transform3d = transform3d
-        , centerOfMassTransform3d = centerOfMassTransform3d
         , velocity = Vec3.zero
         , angularVelocity = Vec3.zero
+        , transform3d = transform3d
+        , centerOfMassTransform3d = centerOfMassTransform3d
         , mass = 0
         , shapes = movedShapes
         , worldShapes = Shape.shapesPlaceIn shapeTransform shapes
-        , force = Vec3.zero
-        , torque = Vec3.zero
         , boundingSphereRadius = List.foldl Shape.expandBoundingSphereRadius 0 movedShapes
 
         -- default damping
@@ -132,6 +130,10 @@ compound shapes data =
         , invMass = 0
         , invInertia = Mat3.zero
         , invInertiaWorld = Mat3.zero
+
+        -- forces
+        , force = Vec3.zero
+        , torque = Vec3.zero
         }
 
 

diff --git a/src/Internal/Solver.elm b/src/Internal/Solver.elm
@@ -228,20 +228,15 @@ solveEquationsGroup body1 body2 equations deltalambdaTot currentEquations =
                     else
                         deltalambdaPrev
 
-                invI1 =
-                    body1.body.invInertiaWorld
-
-                invI2 =
-                    body2.body.invInertiaWorld
-
-                k1 =
-                    deltalambda * body1.body.invMass
-
-                k2 =
-                    deltalambda * body2.body.invMass
-
                 newBody1 =
                     if body1.body.mass > 0 then
+                        let
+                            invI1 =
+                                body1.body.invInertiaWorld
+
+                            k1 =
+                                deltalambda * body1.body.invMass
+                        in
                         { body = body1.body
                         , vX = body1.vX - k1 * vB.x
                         , vY = body1.vY - k1 * vB.y
@@ -257,6 +252,13 @@ solveEquationsGroup body1 body2 equations deltalambdaTot currentEquations =
 
                 newBody2 =
                     if body2.body.mass > 0 then
+                        let
+                            invI2 =
+                                body2.body.invInertiaWorld
+
+                            k2 =
+                                deltalambda * body2.body.invMass
+                        in
                         { body = body2.body
                         , vX = body2.vX + k2 * vB.x
                         , vY = body2.vY + k2 * vB.y
@@ -282,7 +284,7 @@ solveEquationsGroup body1 body2 equations deltalambdaTot currentEquations =
                 remainingEquations
 
 
-updateBodies : { dt : Float, gravity : Vec3, gravityLength : Float } -> Array (SolverBody data) -> World data -> World data
+updateBodies : { ctx | dt : Float, gravity : Vec3 } -> Array (SolverBody data) -> World data -> World data
 updateBodies ctx bodies world =
     let
         simulatedBodies =
@@ -304,7 +306,15 @@ updateBodies ctx bodies world =
     in
     { world
         | bodies =
-            Array.toList simulatedBodies
-                |> List.filter (\{ id } -> id + 1 > 0)
+            Array.foldr
+                (\body list ->
+                    if body.id + 1 > 0 then
+                        body :: list
+
+                    else
+                        list
+                )
+                []
+                simulatedBodies
         , simulatedBodies = simulatedBodies
     }
diff --git a/src/Internal/SolverBody.elm b/src/Internal/SolverBody.elm
@@ -33,7 +33,7 @@ fromBody body =
     }
 
 
-toBody : { dt : Float, gravity : Vec3, gravityLength : Float } -> SolverBody data -> Body data
+toBody : { ctx | dt : Float, gravity : Vec3 } -> SolverBody data -> Body data
 toBody { dt, gravity } { body, vX, vY, vZ, wX, wY, wZ } =
     let
         -- Apply damping https://code.google.com/archive/p/bullet/issues/74