added sensors to bodies

build/cannon.demo.js

@@ -44,7 +44,7 @@ CANNON.Demo = function(options){
         shadows: false,
         aabbs: false,
         profiling: false,
-        maxSubSteps:3
+        maxSubSteps: 20
     };
 
     // Extend settings with options
@@ -262,10 +262,20 @@ CANNON.Demo = function(options){
 
         // Read position data into visuals
         for(var i=0; i<N; i++){
-            var b = bodies[i], visual = visuals[i];
-            visual.position.copy(b.position);
+            var b = bodies[i],
+                visual = visuals[i];
+
+            // Interpolated or not?
+            var bodyPos = b.interpolatedPosition;
+            var bodyQuat = b.interpolatedQuaternion;
+            if(settings.paused){
+                bodyPos = b.position;
+                bodyQuat = b.quaternion;
+            }
+
+            visual.position.copy(bodyPos);
             if(b.quaternion){
-                visual.quaternion.copy(b.quaternion);
+                visual.quaternion.copy(bodyQuat);
             }
         }
 
@@ -626,8 +636,10 @@ CANNON.Demo = function(options){
                 } else {
                     smoothie.start();
                 }*/
+                resetCallTime = true;
             });
-            wf.add(settings, 'stepFrequency',60,60*10).step(60);
+            wf.add(settings, 'stepFrequency',10,60*10).step(10);
+            wf.add(settings, 'maxSubSteps',1,50).step(1);
             var maxg = 100;
             wf.add(settings, 'gx',-maxg,maxg).onChange(function(gx){
                 if(!isNaN(gx)){
@@ -701,11 +713,12 @@ CANNON.Demo = function(options){
     }
 
     var lastCallTime = 0;
+    var resetCallTime = false;
     function updatePhysics(){
         // Step world
         var timeStep = 1 / settings.stepFrequency;
 
-        var now = Date.now() / 1000;
+        var now = performance.now() / 1000;
 
         if(!lastCallTime){
             // last call time not saved, cant guess elapsed time. Take a simple step.
@@ -715,6 +728,10 @@ CANNON.Demo = function(options){
         }
 
         var timeSinceLastCall = now - lastCallTime;
+        if(resetCallTime){
+            timeSinceLastCall = 0;
+            resetCallTime = false;
+        }
 
         world.step(timeStep, timeSinceLastCall, settings.maxSubSteps);
 
@@ -777,6 +794,7 @@ CANNON.Demo = function(options){
 
             case 112: // p
                 settings.paused = !settings.paused;
+                resetCallTime = true;
                 updategui();
                 break;
 

src/objects/Body.js

@@ -368,7 +368,17 @@ function Body(options){
      * @property boundingRadius
      * @type {Number}
      */
-    this.boundingRadius = 0;
+	this.boundingRadius = 0;
+
+	/**
+	 * Determines if bodies do interact. "collide" event is still triggered.
+	 * @property sensor
+	 * @type {Boolean}
+	 */
+	this.sensor = false;
+	if (options.sensor) {
+		this.sensor = options.sensor;
+	}
 
     this.wlambda = new Vec3();
 

src/solver/Solver.js

@@ -32,7 +32,9 @@ Solver.prototype.solve = function(dt,world){
  */
 Solver.prototype.addEquation = function(eq){
     if (eq.enabled) {
-        this.equations.push(eq);
+		if (!(eq.bi.sensor || eq.bj.sensor)) {
+			this.equations.push(eq);
+		}
     }
 };