Optimize IterativeSolver.processContactManifolds, closes #13

build/goblin.js

@@ -6327,6 +6327,14 @@ Goblin.GeometryMethods = {
 		}
 	};
 })();
+Goblin.Utility = {
+	getUid: (function() {
+		var uid = 0;
+		return function() {
+			return uid++;
+		};
+	})()
+};
 /**
  * Extends a given shape by sweeping a line around it
  *
@@ -6887,6 +6895,8 @@ Goblin.AABB.prototype.testRayIntersect = (function(){
  * @constructor
  */
 Goblin.ContactDetails = function() {
+	this.uid = Goblin.Utility.getUid();
+
 	/**
 	 * first body in the  contact
 	 *
@@ -7276,6 +7286,8 @@ Goblin.GhostBody.prototype.checkForEndedContacts = function() {
  * @constructor
  */
 Goblin.IterativeSolver = function() {
+	this.existing_contact_ids = {};
+
 	/**
 	 * Holds contact constraints generated from contact manifolds
 	 *
@@ -7362,6 +7374,8 @@ Goblin.IterativeSolver = function() {
 
 		var idx = solver.contact_constraints.indexOf( this );
 		solver.contact_constraints.splice( idx, 1 );
+
+		delete solver.existing_contact_ids[ this.contact.uid ];
 	};
 	/**
 	 * used to remove friction constraints from the system when their contacts are destroyed
@@ -7424,15 +7438,18 @@ Goblin.IterativeSolver.prototype.processContactManifolds = function( contact_man
 		for ( i = 0; i < contacts_length; i++ ) {
 			contact = manifold.points[i];
 
-			var existing_constraint = null;
+			/*var existing_constraint = null;
 			for ( j = 0; j < this.contact_constraints.length; j++ ) {
 				if ( this.contact_constraints[j].contact === contact ) {
 					existing_constraint = this.contact_constraints[j];
 					break;
 				}
-			}
+			}*/
+			var existing_constraint = this.existing_contact_ids.hasOwnProperty( contact.uid );
 
 			if ( !existing_constraint ) {
+				this.existing_contact_ids[contact.uid] = true;
+
 				// Build contact constraint
 				constraint = Goblin.ObjectPool.getObject( 'ContactConstraint' );
 				constraint.buildFromContact( contact );

examples/boxes.html

@@ -23,6 +23,7 @@
 				box.goblin.position.y = 1;
 				box.goblin.linear_velocity.y = 15;
 				box.goblin.restitution = 0.3;
+				box.goblin.friction = 3;
 			};
 
 			exampleUtils.world.addListener(

examples/compound-shapes.html

@@ -12,7 +12,6 @@
 	<script type="text/javascript">
 		window.onload = function() {
 			exampleUtils.initialize(); // Creates Three.js renderer & GoblinPhysics world
-			exampleUtils.world.solver.relaxation = 0.6; // Resolve penetrations more aggressively
 
 			var ground = exampleUtils.createPlane( 1, 20, 20, 0, exampleUtils.createMaterial( 'pebbles', 5, 5 ) );
 			ground.goblin.restitution = 0.1;

examples/mesh-mesh.html

@@ -12,6 +12,7 @@
 	<script type="text/javascript">
 		window.onload = function() {
 			exampleUtils.initialize(); // Creates Three.js renderer & GoblinPhysics world
+			exampleUtils.world.solver.relaxation = 0.1; // relax penetrations solving to avoid jitter
 
 			// Making ground a MeshShape as well because Mesh-Mesh collision is MUCH faster than Mesh-Convex
 			var ground_geometry = new THREE.PlaneGeometry( 50, 50 );

examples/mesh-shape.html

@@ -50,7 +50,7 @@
 						)
 					);
 
-					mesh.goblin = new Goblin.RigidBody( shape, 15 );
+					mesh.goblin = new Goblin.RigidBody( shape, 30 );
 					mesh.goblin.position.y = 1.85;
 
 					exampleUtils.objects.push( mesh );

src/classes/ContactDetails.js

@@ -5,6 +5,8 @@
  * @constructor
  */
 Goblin.ContactDetails = function() {
+	this.uid = Goblin.Utility.getUid();
+
 	/**
 	 * first body in the  contact
 	 *

src/classes/IterativeSolver.js

@@ -5,6 +5,8 @@
  * @constructor
  */
 Goblin.IterativeSolver = function() {
+	this.existing_contact_ids = {};
+
 	/**
 	 * Holds contact constraints generated from contact manifolds
 	 *
@@ -91,6 +93,8 @@ Goblin.IterativeSolver = function() {
 
 		var idx = solver.contact_constraints.indexOf( this );
 		solver.contact_constraints.splice( idx, 1 );
+
+		delete solver.existing_contact_ids[ this.contact.uid ];
 	};
 	/**
 	 * used to remove friction constraints from the system when their contacts are destroyed
@@ -153,15 +157,11 @@ Goblin.IterativeSolver.prototype.processContactManifolds = function( contact_man
 		for ( i = 0; i < contacts_length; i++ ) {
 			contact = manifold.points[i];
 
-			var existing_constraint = null;
-			for ( j = 0; j < this.contact_constraints.length; j++ ) {
-				if ( this.contact_constraints[j].contact === contact ) {
-					existing_constraint = this.contact_constraints[j];
-					break;
-				}
-			}
+			var existing_constraint = this.existing_contact_ids.hasOwnProperty( contact.uid );
 
 			if ( !existing_constraint ) {
+				this.existing_contact_ids[contact.uid] = true;
+
 				// Build contact constraint
 				constraint = Goblin.ObjectPool.getObject( 'ContactConstraint' );
 				constraint.buildFromContact( contact );

src/classes/Utils/Utility.js

@@ -0,0 +1,8 @@
+Goblin.Utility = {
+	getUid: (function() {
+		var uid = 0;
+		return function() {
+			return uid++;
+		};
+	})()
+};