Convert ContactEquation, FrictionEquation, RotationalEquation to TS

Author: codynova

readme.md

@@ -11,6 +11,7 @@ import { World } from 'cannon-es'
 #### TO DO:
 
 - Finish TS conversion
+- Only import types where possible (don't impot unused class as value)
 - Revisit math/Transform.ts types
 - Revisit material/ContactMaterial.ts constructor assertions
 - Remove use of defined assertion (!) where possible

src/equations/ConeEquation.ts

@@ -1,6 +1,6 @@
 import { Vec3 } from '../math/Vec3'
 import { Equation } from './Equation'
-import { Body } from '../objects/Body'
+import type { Body } from '../objects/Body'
 
 type ConeEquationOptions = {
   maxForce?: number

src/equations/ContactEquation.js src/equations/ContactEquation.tssrc/equations/ContactEquation.js renamed to src/equations/ContactEquation.ts

@@ -1,5 +1,6 @@
 import { Equation } from './Equation'
 import { Vec3 } from '../math/Vec3'
+import type { Body } from '../objects/Body'
 
 /**
  * Contact/non-penetration constraint equation
@@ -11,35 +12,21 @@ import { Vec3 } from '../math/Vec3'
  * @extends Equation
  */
 export class ContactEquation extends Equation {
-  constructor(bodyA, bodyB, maxForce = 1e6) {
-    super(bodyA, bodyB, 0, maxForce)
+  restitution: number // "bounciness": u1 = -e*u0
+  ri: Vec3 // World-oriented vector that goes from the center of bi to the contact point.
+  rj: Vec3 // World-oriented vector that starts in body j position and goes to the contact point.
+  ni: Vec3 // Contact normal, pointing out of body i.
 
-    /**
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution = 0.0 // "bounciness": u1 = -e*u0
+  constructor(bodyA: Body, bodyB: Body, maxForce = 1e6) {
+    super(bodyA, bodyB, 0, maxForce)
 
-    /**
-     * World-oriented vector that goes from the center of bi to the contact point.
-     * @property {Vec3} ri
-     */
+    this.restitution = 0.0 
     this.ri = new Vec3()
-
-    /**
-     * World-oriented vector that starts in body j position and goes to the contact point.
-     * @property {Vec3} rj
-     */
     this.rj = new Vec3()
-
-    /**
-     * Contact normal, pointing out of body i.
-     * @property {Vec3} ni
-     */
     this.ni = new Vec3()
   }
 
-  computeB(h) {
+  computeB(h: number): number {
     const a = this.a
     const b = this.b
     const bi = this.bi
@@ -95,7 +82,7 @@ export class ContactEquation extends Equation {
    * @method getImpactVelocityAlongNormal
    * @return {number}
    */
-  getImpactVelocityAlongNormal() {
+  getImpactVelocityAlongNormal(): number {
     const vi = ContactEquation_getImpactVelocityAlongNormal_vi
     const vj = ContactEquation_getImpactVelocityAlongNormal_vj
     const xi = ContactEquation_getImpactVelocityAlongNormal_xi

src/equations/Equation.ts

@@ -1,6 +1,6 @@
 import { JacobianElement } from '../math/JacobianElement'
 import { Vec3 } from '../math/Vec3'
-import { Body } from '../objects/Body'
+import type { Body } from '../objects/Body'
 
 /**
  * Equation base class
@@ -41,7 +41,7 @@ export class Equation {
     this.jacobianElementB = new JacobianElement()
     this.enabled = true
     this.multiplier = 0
-    
+
     this.setSpookParams(1e7, 4, 1 / 60) // Set typical spook params
   }
 

src/equations/FrictionEquation.js src/equations/FrictionEquation.tssrc/equations/FrictionEquation.js renamed to src/equations/FrictionEquation.ts

@@ -1,5 +1,6 @@
 import { Equation } from './Equation'
 import { Vec3 } from '../math/Vec3'
+import type { Body } from '../objects/Body'
 
 /**
  * Constrains the slipping in a contact along a tangent
@@ -12,14 +13,18 @@ import { Vec3 } from '../math/Vec3'
  * @extends Equation
  */
 export class FrictionEquation extends Equation {
-  constructor(bodyA, bodyB, slipForce) {
+  ri: Vec3
+  rj: Vec3
+  t: Vec3 // Tangent.
+
+  constructor(bodyA: Body, bodyB: Body, slipForce: number) {
     super(bodyA, bodyB, -slipForce, slipForce)
     this.ri = new Vec3()
     this.rj = new Vec3()
-    this.t = new Vec3() // tangent
+    this.t = new Vec3()
   }
 
-  computeB(h) {
+  computeB(h: number): number {
     const a = this.a
     const b = this.b
     const bi = this.bi

src/equations/RotationalEquation.js src/equations/RotationalEquation.tssrc/equations/RotationalEquation.js renamed to src/equations/RotationalEquation.ts

@@ -1,5 +1,13 @@
 import { Vec3 } from '../math/Vec3'
 import { Equation } from './Equation'
+import type { Body } from '../objects/Body'
+
+type RotationalEquationOptions = {
+  maxForce?: number
+  axisA?: Vec3
+  axisB?: Vec3
+  maxAngle?: number
+}
 
 /**
  * Rotational constraint. Works to keep the local vectors orthogonal to each other in world space.
@@ -14,18 +22,21 @@ import { Equation } from './Equation'
  * @extends Equation
  */
 export class RotationalEquation extends Equation {
-  constructor(bodyA, bodyB, options = {}) {
+  axisA: Vec3
+  axisB: Vec3
+  maxAngle: number
+
+  constructor(bodyA: Body, bodyB: Body, options: RotationalEquationOptions = {}) {
     const maxForce = typeof options.maxForce !== 'undefined' ? options.maxForce : 1e6
 
     super(bodyA, bodyB, -maxForce, maxForce)
 
     this.axisA = options.axisA ? options.axisA.clone() : new Vec3(1, 0, 0)
     this.axisB = options.axisB ? options.axisB.clone() : new Vec3(0, 1, 0)
-
     this.maxAngle = Math.PI / 2
   }
 
-  computeB(h) {
+  computeB(h: number): number {
     const a = this.a
     const b = this.b
     const ni = this.axisA