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Adding gravity to billiard physics in JS canvas animation

I am trying to write aa small physics demo using Javascript. I have multiple balls that bounce off each other just fine, but things go wrong when I try to add gravity.
I am trying to conserve the momentum once they hit, but when I add constant gravity to each one, the physics start to break down.
Here is what I have in terms of code:
class Ball {
constructor ({
x,
y,
vx,
vy,
radius,
color = 'red',
}) {
this.x = x
this.y = y
this.vx = vx
this.vy = vy
this.radius = radius
this.color = color
this.mass = 1
}
render (ctx) {
ctx.save()
ctx.fillStyle = this.color
ctx.strokeStyle = this.color
ctx.translate(this.x, this.y)
ctx.strokeRect(-this.radius, -this.radius, this.radius * 2, this.radius * 2)
ctx.beginPath()
ctx.arc(0, 0, this.radius, Math.PI * 2, false)
ctx.closePath()
ctx.fill()
ctx.restore()
return this
}
getBounds () {
return {
x: this.x - this.radius,
y: this.y - this.radius,
width: this.radius * 2,
height: this.radius * 2
}
}
}
const intersects = (rectA, rectB) => {
return !(rectA.x + rectA.width < rectB.x ||
rectB.x + rectB.width < rectA.x ||
rectA.y + rectA.height < rectB.y ||
rectB.y + rectB.height < rectA.y)
}
const checkWall = (ball) => {
const bounceFactor = 0.5
if (ball.x + ball.radius > canvas.width) {
ball.x = canvas.width - ball.radius
ball.vx *= -bounceFactor
}
if (ball.x - ball.radius < 0) {
ball.x = ball.radius
ball.vx *= -bounceFactor
}
if (ball.y + ball.radius > canvas.height) {
ball.y = canvas.height - ball.radius
ball.vy *= -1
}
if (ball.y - ball.radius < 0) {
ball.y = ball.radius
ball.vy *= -bounceFactor
}
}
const rotate = (x, y, sin, cos, reverse) => {
return {
x: reverse ? x * cos + y * sin : x * cos - y * sin,
y: reverse ? y * cos - x * sin : y * cos + x * sin
}
}
const checkCollision = (ball0, ball1, dt) => {
const dx = ball1.x - ball0.x
const dy = ball1.y - ball0.y
const dist = Math.sqrt(dx * dx + dy * dy)
const minDist = ball0.radius + ball1.radius
if (dist < minDist) {
//calculate angle, sine, and cosine
const angle = Math.atan2(dy, dx)
const sin = Math.sin(angle)
const cos = Math.cos(angle)
//rotate ball0's position
const pos0 = {x: 0, y: 0}
//rotate ball1's position
const pos1 = rotate(dx, dy, sin, cos, true)
//rotate ball0's velocity
const vel0 = rotate(ball0.vx, ball0.vy, sin, cos, true)
//rotate ball1's velocity
const vel1 = rotate(ball1.vx, ball1.vy, sin, cos, true)
//collision reaction
const vxTotal = (vel0.x - vel1.x)
vel0.x = ((ball0.mass - ball1.mass) * vel0.x + 2 * ball1.mass * vel1.x) /
(ball0.mass + ball1.mass)
vel1.x = vxTotal + vel0.x
const absV = Math.abs(vel0.x) + Math.abs(vel1.x)
const overlap = (ball0.radius + ball1.radius) - Math.abs(pos0.x - pos1.x)
pos0.x += vel0.x / absV * overlap
pos1.x += vel1.x / absV * overlap
//rotate positions back
const pos0F = rotate(pos0.x, pos0.y, sin, cos, false)
const pos1F = rotate(pos1.x, pos1.y, sin, cos, false)
//adjust positions to actual screen positions
ball1.x = ball0.x + pos1F.x
ball1.y = ball0.y + pos1F.y
ball0.x = ball0.x + pos0F.x
ball0.y = ball0.y + pos0F.y
//rotate velocities back
const vel0F = rotate(vel0.x, vel0.y, sin, cos, false)
const vel1F = rotate(vel1.x, vel1.y, sin, cos, false)
ball0.vx = vel0F.x
ball0.vy = vel0F.y
ball1.vx = vel1F.x
ball1.vy = vel1F.y
}
}
const canvas = document.createElement('canvas')
const ctx = canvas.getContext('2d')
let oldTime = 0
canvas.width = innerWidth
canvas.height = innerHeight
document.body.appendChild(canvas)
const log = document.getElementById('log')
const balls = new Array(36).fill(null).map(_ => new Ball({
x: Math.random() * innerWidth,
y: Math.random() * innerHeight,
vx: (Math.random() * 2 - 1) * 5,
vy: (Math.random() * 2 - 1) * 5,
radius: 20,
}))
requestAnimationFrame(updateFrame)
function updateFrame (ts) {
const dt = ts - oldTime
oldTime = ts
ctx.clearRect(0, 0, innerWidth, innerHeight)
for (let i = 0; i < balls.length; i++) {
const ball = balls[i]
// ADD GRAVITY HERE
ball.vy += 2
ball.x += ball.vx * (dt * 0.005)
ball.y += ball.vy * (dt * 0.005)
checkWall(ball)
}
for (let i = 0; i < balls.length; i++) {
const ball0 = balls[i]
for (let j = i + 1; j < balls.length; j++) {
const ball1 = balls[j]
// CHECK FOR COLLISIONS HERE
checkCollision(ball0, ball1, dt)
}
}
for (let i = 0; i < balls.length; i++) {
const ball = balls[i]
ball.render(ctx)
}
// const dist = ball2.x - ball1.x
// if (Math.abs(dist) < ball1.radius + ball2.radius) {
// const vxTotal = ball1.vx - ball2.vx
// ball1.vx = ((ball1.mass - ball2.mass) * ball1.vx + 2 * ball2.mass * ball2.vx) / (ball1.mass + ball2.mass)
// ball2.vx = vxTotal + ball1.vx
// ball1.x += ball1.vx
// ball2.x += ball2.vx
// }
// ball.vy += 0.5
// ball.x += ball.vx
// ball.y += ball.vy
//
// ball.render(ctx)
requestAnimationFrame(updateFrame)
}
* { margin: 0; padding: 0; }
As you can see, I have checkCollision helper method, which calculates the kinetic energy and new velocities of a ball once it has collided with another ball. My update loop looks like this:
// add velocities to balls position
// check if its hitting any wall and bounce it back
for (let i = 0; i < balls.length; i++) {
const ball = balls[i]
// Add constant gravity to the vertical velocity
// When balls stack up on each other at the bottom, the gravity is still applied and my
// "checkCollision" method freaks out and the physics start to explode
ball.vy += 0.8
ball.x += ball.vx * (dt * 0.005)
ball.y += ball.vy * (dt * 0.005)
checkWall(ball)
}
for (let i = 0; i < balls.length; i++) {
const ball0 = balls[i]
for (let j = i + 1; j < balls.length; j++) {
const ball1 = balls[j]
// Check collisions between two balls
checkCollision(ball0, ball1, dt)
}
}
// Finally render the ball on-screen
for (let i = 0; i < balls.length; i++) {
const ball = balls[i]
ball.render(ctx)
}
How do I calculate aa gravity, while preventing the physics from exploding when the balls start stacking on top of each other?
It seems that the gravity force is colliding with the "checkCollision" method. The checkCollision method tries to move them back in place, but the constant gravity overwrites it and continues pulling them down.
EDIT: After some reading I understand some Verlet integration is in order, but am having difficulties with wrapping my head around it.
for (let i = 0; i < balls.length; i++) {
const ball = balls[i]
// This line needs to be converted to verlet motion?
ball.vy += 2
ball.x += ball.vx * (dt * 0.005)
ball.y += ball.vy * (dt * 0.005)
checkWall(ball)
}

Balls do not overlap
There is a fundamental flaw in the collision testing due to the fact that the collisions are calculated only when 2 balls overlap. In the real world this never happens.
The result of "collide on overlap" when many balls are interacting, will result in behavior that does not conserve the total energy of the system.
Resolve by order of collision
You can resolve collisions such that balls never overlap however the amount of processing is indeterminate per frame, growing exponentially as the density of balls increases.
The approach is to locate the first collision between balls in the time between frames. Resolve that collision and then with the new position of that collision find the next collision closest in time forward from the last. Do that until there are no pending collisions for that frame. (There is more to it than that) The result is that the simulation will never be in the impossible state where balls overlap.
Check out my Pool simulator on CodePen that uses this method to simulate pool balls. The balls can have any speed and always resolve correctly.
Verlet integration.
However you can reduce the noise using the overlapping collisions by using verlet integration which will keep the total energy of the balls at a more stable level.
To do that we introduce 2 new properties of the ball, px, py that hold the previous position of the ball.
Each frame we calculate the balls velocity as the difference between the current position and the new position. That velocity is used to do the calculations for the frame.
When a ball changes direction (hits wall or another ball) we also need to change the balls previous position to match where it would have been on the new trajectory.
Use constant time steps.
Using time steps based on time since last frame will also introduce noise and should not be used in the overlap collision method.
Reduce time, increase iteration
To further combat the noise you need to slow the overall speed of the balls to reduce the amount they overlay and thus more closely behave as if they collided at the point ballA.radius + ballB.radius apart. Also you should test every ball against every other ball, not just ball against balls above it in the balls array.
To keep the animation speed up you solve the ball V ball V wall collisions a few times per frame. The example does 5. The best value depends on the total energy of the balls, the level of noise that is acceptable, and the CPU power of the device its running on.
Accuracy matters
Your collision function is also way out there. I had a quick look and it did not look right. I added an alternative in the example.
When a ball hits a wall it does so at some time between the frames. You must move the ball away from the wall by the correct distance. Not doing so is like simulating a ball that sticks to a wall a tiny bit each time it hits, further diverging from what really happens.
Example
This is a rewrite of your original code. Click canvas to add some energy.
const ctx = canvas.getContext("2d");
const BOUNCE = 0.75;
const resolveSteps = 5;
var oldTime = 0;
const $setOf = (count, fn = (i) => i) => {var a = [], i = 0; while (i < count) { a.push(fn(i++)) } return a };
const $rand = (min = 1, max = min + (min = 0)) => Math.random() * (max - min) + min;
const $randP = (min = 1, max = min + (min = 0), p = 2) => Math.random() ** p * (max - min) + min;
var W = canvas.width, H = canvas.height;
const BALL_COUNT = 80;
const BALL_RADIUS = 15, BALL_MIN_RADIUS = 6;
const GRAV = 0.5 / resolveSteps;
requestAnimationFrame(updateFrame);
canvas.addEventListener("click", () => {
balls.forEach(b => {
b.px = b.x + (Math.random() * 18 - 9);
b.py = b.y + (Math.random() * -18);
})
});
class Ball {
constructor({x, y, vx, vy, radius}) {
this.x = x;
this.y = y;
this.px = x - vx;
this.py = y - vy;
this.vx = vx;
this.vy = vy;
this.radius = radius;
this.mass = radius * radius * Math.PI * (4 / 3); // use sphere volume as mass
}
render(ctx) {
ctx.moveTo(this.x + this.radius, this.y);
ctx.arc(this.x, this.y, this.radius, Math.PI * 2, false);
}
move() {
this.vx = this.x - this.px;
this.vy = this.y - this.py;
this.vy += GRAV;
this.px = this.x;
this.py = this.y;
this.x += this.vx;
this.y += this.vy;
this.checkWall();
}
checkWall() {
const ball = this;
const top = ball.radius;
const left = ball.radius;
const bottom = H - ball.radius;
const right = W - ball.radius;
if (ball.x > right) {
const away = (ball.x - right) * BOUNCE;
ball.x = right - away;
ball.vx = -Math.abs(ball.vx) * BOUNCE;
ball.px = ball.x - ball.vx;
} else if (ball.x < left) {
const away = (ball.x - left) * BOUNCE;
ball.x = left + away;
ball.vx = Math.abs(ball.vx) * BOUNCE;
ball.px = ball.x - ball.vx;
}
if (ball.y > bottom) {
const away = (ball.y - bottom) * BOUNCE;
ball.y = bottom - away;
ball.vy = -Math.abs(ball.vy) * BOUNCE;
ball.py = ball.y - ball.vy;
} else if (ball.y < top) {
const away = (ball.y - top) * BOUNCE;
ball.y = top + away;
ball.vy = Math.abs(ball.vy) * BOUNCE;
ball.py = ball.y - ball.vy;
}
}
collisions() {
var b, dx, dy, nx, ny, cpx, cpy, p, d, i = 0;
var {x, y, vx, vy, px, py, radius: r, mass: m} = this;
while (i < balls.length) {
b = balls[i++];
if (this !== b) {
const rr = r + b.radius;
if (x + rr > b.x && x < b.x + rr && y + rr > b.y && y < b.y + rr) {
dx = x - b.x;
dy = y - b.y;
d = (dx * dx + dy * dy) ** 0.5;
if (d < rr) {
nx = (b.x - x) / d;
ny = (b.y - y) / d;
p = 2 * (vx * nx + vy * ny - b.vx * nx - b.vy * ny) / (m + b.mass);
cpx = (x * b.radius + b.x * r) / rr;
cpy = (y * b.radius + b.y * r) / rr;
x = cpx + r * (x - b.x) / d;
y = cpy + r * (y - b.y) / d;
b.x = cpx + b.radius * (b.x - x) / d;
b.y = cpy + b.radius * (b.y - y) / d;
px = x - (vx -= p * b.mass * nx);
py = y - (vy -= p * b.mass * ny);
b.px = b.x - (b.vx += p * m * nx);
b.py = b.y - (b.vy += p * m * ny);
}
}
}
}
this.x = x;
this.y = y;
this.px = px;
this.py = py;
this.vx = vx;
this.vy = vy;
this.checkWall();
}
}
const balls = (() => {
return $setOf(BALL_COUNT, () => new Ball({
x: $rand(BALL_RADIUS, W - BALL_RADIUS),
y: $rand(BALL_RADIUS, H - BALL_RADIUS),
vx: $rand(-2, 2),
vy: $rand(-2, 2),
radius: $randP(BALL_MIN_RADIUS, BALL_RADIUS, 4),
}));
})();
function updateFrame(ts) {
var i = 0, j = resolveSteps;
ctx.clearRect(0, 0, W, H);
while (i < balls.length) { balls[i++].move() }
while (j--) {
i = 0;
while (i < balls.length) { balls[i++].collisions(balls) }
}
ctx.fillStyle = "#0F0";
ctx.beginPath();
i = 0;
while (i < balls.length) { balls[i++].render(ctx) }
ctx.fill();
requestAnimationFrame(updateFrame)
}
<canvas id="canvas" width="400" height="180" style="border:1px solid black;"></canvas>
<div style="position: absolute; top: 10px; left: 10px;">Click to stir</div>

Transformation matrix rotation not preserving local axis scaling?

I have a simple transform class to apply translations, scales and rotations on a div in any arbitrary order:
class TransformDiv{
constructor(div)
{
this.div = div;
this.translateX = 0;
this.translateY = 0;
this.scaleX = 1;
this.scaleY = 1;
this.shearX = 0;
this.shearY = 0;
}
translate(x, y)
{
this.translateX += x;
this.translateY += y;
this.setTransform();
}
scale(x, y, anchorX = 0, anchorY = 0)
{
this.scaleX *= x;
this.shearX *= x;
this.scaleY *= y;
this.shearY *= y;
this.translateX -= (this.translateX - anchorX) * (1 - x);
this.translateY -= (this.translateY - anchorY) * (1 - y);
this.setTransform();
}
rotate(rad, anchorX = 0, anchorY = 0)
{
let cos = Math.cos(rad);
let sin = Math.sin(rad);
// the composition of two successive rotations are additive
let newScaleX = this.scaleX * cos + this.shearX * sin;
let newShearX = this.scaleX * (-sin) + this.shearX * cos;
let newShearY = this.shearY * cos + this.scaleY * sin;
let newScaleY = this.shearY * (-sin) + this.scaleY * cos;
this.scaleX = newScaleX;
this.shearX = newShearX;
this.shearY = newShearY;
this.scaleY = newScaleY;
//rotation about an arbitrary point
let originX = (this.translateX - anchorX);
let originY = (this.translateY - anchorY);
this.translateX -= (originY * sin - originX * (cos - 1));
this.translateY -= (-originY * (cos - 1) - originX * sin);
this.setTransform();
}
setTransform()
{
this.div.style.transform = `matrix(${this.scaleX}, ${this.shearY}, ${this.shearX}, ${this.scaleY}, ${this.translateX}, ${this.translateY})`;
}
}
A problem arises when I wish to rotate after a non-uniform scale has been made.
Edit - Newer interactive example: https://codepen.io/manstie/pen/RwGGOmB
Here is the example I made:
https://jsfiddle.net/ft61q230/1/
In the example here:
div2.translate(100, 100);
div2.scale(2, 1, 100, 100);
div2.rotate(Math.PI / 2, 100, 100);
The expected result is for Test 1 Text and Test 2 Text to be the same length, as if you were rotating from the top left of the div clockwise 90 degrees; but as you can see the result is such that the rotation logic I am performing retains the scale on the world-space axis, so now Test 2 Text is twice as tall rather than twice as long.
Current outcome:
Desired outcome:
The current rotation logic is based on multiplying the existing transformation matrix that makes up rotation by another transformation matrix containing an angle to rotate by, but I realize it is not as simple as that and I am missing something to retain local-axial scale.
Thank you for your assistance.
Edit:
Was recommended DOMMatrix which does all this math for me, but it has the same problem, although there is some skew which I don't think is accurate:
https://jsfiddle.net/heqo7vrt/1/
The skew is caused by the scale function scaling it's local X axis while it is rotated, and then rotating after not keeping that local X axis scaling. Also, DOMMatrix translate function has the translations apply on its local axis which is not desired in my situation but if its rotate function worked as expected I would be able to use it.

I managed to fix it here:
Regular: https://jsfiddle.net/sbca61k5/
let newScaleX = cos * this.scaleX + sin * this.shearY;
let newShearX = cos * this.shearX + sin * this.scaleY;
let newShearY = -sin * this.scaleX + cos * this.shearY;
let newScaleY = -sin * this.shearX + cos * this.scaleY;
DOMMatrix version: https://jsfiddle.net/b36kqrsg/
this.matrix = new DOMMatrix([cos, sin, -sin, cos, 0, 0]).multiply(this.matrix);
// or
this.matrix = new DOMMatrix().rotate(deg).multiply(this.matrix);
The difference is to have the rotation matrix multiplied by the rest of the matrix to "add" it on, not the other way round:
[a c e] [cos -sin 0] [scx shy tx]
[b d f] = [sin cos 0] . [shx scy ty]
[0 0 1] [0 0 1] [0 0 1 ]
I'm unsure about the details of the anchor mathematics but the DOMMatrix version's anchor is relative to its own top left whereas the other is relative to the top left of the document.
From my interactive example the anchor maths does not work as after a multitude of rotations the objects get further away from the anchor origin.
https://codepen.io/manstie/pen/PoGXMed

Circle to Circle Collision Response not working as Expected

I'm working on an HTML Canvas demo to learn more about circle to circle collision detection and response. I believe that the detection code is correct but the response math is not quite there.
The demo has been implemented using TypeScript, which is a typed superset of JavaScript that is transpiled to plain JavaScript.
I believe that the problem exists within the checkCollision method of the Circle class, specifically the math for calculating the new velocity.
The blue circle position is controlled by the mouse (using an event listener). If the red circle collides from the right side of the blue circle, the collision response seems to work correctly, but if it approaches from the left it does not respond correctly.
I am looking for some guidance on how I can revise the checkCollision math to correctly handle the collision from any angle.
Here is a CodePen for a live demo and dev environment:
CodePen
class DemoCanvas {
canvasWidth: number = 500;
canvasHeight: number = 500;
canvas: HTMLCanvasElement = document.createElement('canvas');
constructor() {
this.canvas.width = this.canvasWidth;
this.canvas.height = this.canvasHeight;
this.canvas.style.border = '1px solid black';
this.canvas.style.position = 'absolute';
this.canvas.style.left = '50%';
this.canvas.style.top = '50%';
this.canvas.style.transform = 'translate(-50%, -50%)';
document.body.appendChild(this.canvas);
}
clear() {
this.canvas.getContext('2d').clearRect(0, 0, this.canvas.width, this.canvas.height);
}
getContext(): CanvasRenderingContext2D {
return this.canvas.getContext('2d');
}
getWidth(): number {
return this.canvasWidth;
}
getHeight(): number {
return this.canvasHeight;
}
getTop(): number {
return this.canvas.getBoundingClientRect().top;
}
getRight(): number {
return this.canvas.getBoundingClientRect().right;
}
getBottom(): number {
return this.canvas.getBoundingClientRect().bottom;
}
getLeft(): number {
return this.canvas.getBoundingClientRect().left;
}
}
class Circle {
x: number;
y: number;
xVelocity: number;
yVelocity: number;
radius: number;
color: string;
canvas: DemoCanvas;
context: CanvasRenderingContext2D;
constructor(x: number, y: number, xVelocity: number, yVelocity: number, color: string, gameCanvas: DemoCanvas) {
this.radius = 20;
this.x = x;
this.y = y;
this.xVelocity = xVelocity;
this.yVelocity = yVelocity;
this.color = color;
this.canvas = gameCanvas;
this.context = this.canvas.getContext();
}
public draw(): void {
this.context.fillStyle = this.color;
this.context.beginPath();
this.context.arc(this.x, this.y, this.radius, 0, 2 * Math.PI);
this.context.fill();
}
public move(): void {
this.x += this.xVelocity;
this.y += this.yVelocity;
}
checkWallCollision(gameCanvas: DemoCanvas): void {
let top = 0;
let right = 500;
let bottom = 500;
let left = 0;
if(this.y < top + this.radius) {
this.y = top + this.radius;
this.yVelocity *= -1;
}
if(this.x > right - this.radius) {
this.x = right - this.radius;
this.xVelocity *= -1;
}
if(this.y > bottom - this.radius) {
this.y = bottom - this.radius;
this.yVelocity *= -1;
}
if(this.x < left + this.radius) {
this.x = left + this.radius;
this.xVelocity *= -1;
}
}
checkCollision(x1: number, y1: number, r1: number, x2: number, y2: number, r2: number) {
let distance: number = Math.abs((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
// Detect collision
if(distance < (r1 + r2) * (r1 + r2)) {
// Respond to collision
let newVelocityX1 = (circle1.xVelocity + circle2.xVelocity) / 2;
let newVelocityY1 = (circle1.yVelocity + circle1.yVelocity) / 2;
circle1.x = circle1.x + newVelocityX1;
circle1.y = circle1.y + newVelocityY1;
circle1.xVelocity = newVelocityX1;
circle1.yVelocity = newVelocityY1;
}
}
}
let demoCanvas = new DemoCanvas();
let circle1: Circle = new Circle(250, 250, 5, 5, "#F77", demoCanvas);
let circle2: Circle = new Circle(250, 540, 5, 5, "#7FF", demoCanvas);
addEventListener('mousemove', function(e) {
let mouseX = e.clientX - demoCanvas.getLeft();
let mouseY = e.clientY - demoCanvas.getTop();
circle2.x = mouseX;
circle2.y = mouseY;
});
function loop() {
demoCanvas.clear();
circle1.draw();
circle2.draw();
circle1.move();
circle1.checkWallCollision(demoCanvas);
circle2.checkWallCollision(demoCanvas);
circle1.checkCollision(circle1.x, circle1.y, circle1.radius, circle2.x, circle2.y, circle2.radius);
requestAnimationFrame(loop);
}
requestAnimationFrame(loop);

Elasic 2D collision
The problem is likely because the balls do not move away from each other and then in the next frame they are still overlapping and it gets worse. My guess from just looking at the code.
A simple solution.
Before you can have the two balls change direction you must ensure that they are positioned correctly. They must be just touching, (no overlay) or they can get caught up in each other.
Detect collision, and fix position.
// note I am using javascript.
// b1,b2 are the two balls or circles
// b1.dx,b1.dy are velocity (deltas) to save space same for b2
// get dist between them
// first vect from one to the next
const dx = b2.x - b1.x;
const dy = b2.y - b1.y;
// then distance
const dist = Math.sqrt(dx*dx + dy*dy);
// then check overlap
if(b1.radius + b2.radius >= dist){ // the balls overlap
// normalise the vector between them
const nx = dx / dist;
const ny = dy / dist;
// now move each ball away from each other
// along the same line as the line between them
// Use the ratio of the radius to work out where they touch
const touchDistFromB1 = (dist * (b1.radius / (b1.radius + b2.radius)))
const contactX = b1.x + nx * touchDistFromB1;
const contactY = b1.y + ny * touchDistFromB1;
// now move each ball so that they just touch
// move b1 back
b1.x = contactX - nx * b1.radius;
b1.y = contactY - ny * b1.radius;
// and b2 in the other direction
b2.x = contactX + nx * b2.radius;
b2.y = contactY + ny * b2.radius;
If one is static
If one of the balls is static then you can keep its position and move the other ball.
// from contact test for b1 is immovable
if(b1.radius + b2.radius >= dist){ // the balls overlap
// normalise the vector between them
const nx = dx / dist;
const ny = dy / dist;
// move b2 away from b1 along the contact line the distance of the radius summed
b2.x = b1.x + nx * (b1.radius + b2.radius);
b2.y = b1.y + ny * (b1.radius + b2.radius);
Now you have the balls correctly separated a you can calculate the new trajectories
Changing the trajectories.
There are a wide variety of ways to do this, but the one I like best is the elastic collision. I created a function from the Elastic collision in Two dimensional space wiki source and have been using it in games for some time.
The function and information is in the snippet at the bottom.
Next I will show how to call the function continuing on from the code above
// get the direction and velocity of each ball
const v1 = Math.sqrt(b1.dx * b1.dx + b1.dy * b1.dy);
const v2 = Math.sqrt(b2.dx * b2.dx + b2.dy * b2.dy);
// get the direction of travel of each ball
const dir1 = Math.atan2(b1.dy, b1.dx);
const dir2 = Math.atan2(b2.dy, b2.dx);
// get the direction from ball1 center to ball2 cenet
const directOfContact = Math.atan2(ny, nx);
// You will also need a mass. You could use the area of a circle, or the
// volume of a sphere to get the mass of each ball with its radius
// this will make them react more realistically
// An approximation is good as it is the ratio not the mass that is important
// Thus ball are spheres. Volume is the cubed radius
const mass1 = Math.pow(b1.radius,3);
const mass1 = Math.pow(b2.radius,3);
And finally you can call the function
ellastic2DCollistionD(b1, b2, v1, v2, d1, d2, directOfContact, mass1, mass2);
And it will correctly set the deltas of both balls.
Moving the ball position along their deltas is done after the collision function
b1.x += b1.dx;
b1.y += b1.dy;
b2.x += b1.dx;
b2.y += b1.dy;
If one of the balls is static you just ignore the deltas.
Elasic 2D collision function
Derived from information at Elastic collision in Two dimensional space wiki
// obj1, obj2 are the object that will have their deltas change
// velocity1, velocity2 is the velocity of each
// dir1, dir2 is the direction of travel
// contactDir is the direction from the center of the first object to the center of the second.
// mass1, mass2 is the mass of the first and second objects.
//
// function ellastic2DCollistionD(obj1, obj2, velocity1, velocity2, dir1, dir2, contactDir, mass1, mass2){
// The function applies the formula below twice, once fro each object, allowing for a little optimisation.
// The formula of each object's new velocity is
//
// For 2D moving objects
// v1,v2 is velocity
// m1, m2 is the mass
// d1 , d2 us the direction of moment
// p is the angle of contact;
//
// v1* cos(d1-p) * (m1 - m2) + 2 * m2 * v2 * cos(d2- p)
// vx = ----------------------------------------------------- * cos(p) + v1 * sin(d1-p) * cos(p + PI/2)
// m1 + m2
// v1* cos(d1-p) * (m1 - m2) + 2 * m2 * v2 * cos(d2- p)
// vy = ----------------------------------------------------- * sin(p) + v1 * sin(d1-p) * sin(p + PI/2)
// m1 + m2
// More info can be found at https://en.wikipedia.org/wiki/Elastic_collision#Two-dimensional
// to keep the code readable I use abbreviated names
function ellastic2DCollistionD(obj1, obj2, v1, v2, d1, d2, cDir, m1, m2){
const mm = m1 - m2;
const mmt = m1 + m2;
const v1s = v1 * Math.sin(d1 - cDir);
const cp = Math.cos(cDir);
const sp = Math.sin(cDir);
var cdp1 = v1 * Math.cos(d1 - cDir);
var cdp2 = v2 * Math.cos(d2 - cDir);
const cpp = Math.cos(cDir + Math.PI / 2)
const spp = Math.sin(cDir + Math.PI / 2)
var t = (cdp1 * mm + 2 * m2 * cdp2) / mmt;
obj1.dx = t * cp + v1s * cpp;
obj1.dy = t * sp + v1s * spp;
cDir += Math.PI;
const v2s = v2 * Math.sin(d2 - cDir);
cdp1 = v1 * Math.cos(d1 - cDir);
cdp2 = v2 * Math.cos(d2 - cDir);
t = (cdp2 * -mm + 2 * m1 * cdp1) / mmt;
obj2.dx = t * -cp + v2s * -cpp;
obj2.dy = t * -sp + v2s * -spp;
}
Note just realized that you are using a typeScript and the function above is specifically type agnostic. Does not care about obj1, obj2 type, and will add the deltas to any object that you pass.
You will have to change the function for typeScript.

The velocity vector should change by a multiple of the normal vector at the collision point, which is also the normalized vector between the circle mid points.
There are several posts here and elsewhere on elastic circle collisions and the computation of the impulse exchange (for instance Collision of circular objects, with jsfiddle for planet billiard https://stackoverflow.com/a/23671054/3088138).
If circle2 is bound to the mouse, then the event listener should also update the velocity using the difference to the previous point and the difference of time stamps, or better some kind of moving average thereof. The mass of this circle in the collision formulas is to be considered infinite.
As you are using requestAnimationFrame, the spacing of the times it is called is to be considered random. It would be better to use actual time stamps and some effort at implementing the Euler method (or whatever the resulting order 1 integration method amounts to) using the actual time increments. The collision procedure should not contain a position update, as that is the domain of the integration step, which in turn makes it necessary to add a test that the disks are actually moving together.

Canvas perpendicular points to line

I'm using Konva library to draw some stuff on HTML5 canvas.
I have given 2 points from user interaction by mouse click:
var A={x:'',y:''};
var B={x:'',y:''};
1) How to draw line line this?
My question is:
1) How to get perpendicular lines on each interval?
2) How to get distance from A to B point?
3) How to get all points on line from A to B?
4) How to get red points?

You have not explained what your line is so I am assuming it is a sin wave (though the image looks like circles stuck together???)
As MBo has given the basics this is just applying it to the wavy line.
// normalize a vector
function normalize(vec){
var length = Math.sqrt(vec.x * vec.x + vec.y * vec.y);
vec.x /= length;
vec.y /= length;
return vec;
}
// creates a wavy line
function wavyLine(start, end, waves, amplitude){
return ({
start,
end,
waves,
amplitude,
update(){
if(this.vec === undefined){
this.vec = {};
this.norm = {};
}
this.vec.x = this.end.x - this.start.x;
this.vec.y = this.end.y - this.start.y;
this.length = Math.sqrt(this.vec.x * this.vec.x + this.vec.y * this.vec.y);
this.norm.x = this.vec.x / this.length;
this.norm.y = this.vec.y / this.length;
return this;
}
}).update();
}
// draws a wavy line
function drawWavyLine(line) {
var x, stepSize, i, y, phase, dist;
ctx.beginPath();
stepSize = ctx.lineWidth;
ctx.moveTo(line.start.x, line.start.y);
for (i = stepSize; i < line.length; i+= stepSize) {
x = line.start.x + line.norm.x * i; // get point i pixels from start
y = line.start.y + line.norm.y * i; // get point i pixels from start
phase = (i / (line.length / line.waves)) * Math.PI * 2; // get the wave phase at this point
dist = Math.sin(phase) * line.amplitude; // get the distance from the line to the point on the wavy curve
x -= line.norm.y * dist;
y += line.norm.x * dist;
ctx.lineTo(x, y);
}
phase = line.waves * Math.PI * 2; // get the wave phase at this point
dist = Math.sin(phase) * line.amplitude; // get the distance from the line to the point on the wavy curve
ctx.lineTo(line.end.x - line.norm.y * dist, line.end.y + line.norm.x * dist);
ctx.stroke();
}
// find the closest point on a wavy line to a point returns the pos on the wave, tangent and point on the linear line
function closestPointOnLine(point,line){
var x = point.x - line.start.x;
var y = point.y - line.start.y;
// get the amount the line vec needs to be scaled so tat point is perpendicular to the line
var l = (line.vec.x * x + line.vec.y * y) / (line.length * line.length);
x = line.vec.x * l; // scale the vec
y = line.vec.y * l;
return pointAtDistance(Math.sqrt(x * x + y * y), line);
}
// find the point at (linear) distance along wavy line and return coordinate, coordinate on wave, and tangent
function pointAtDistance(distance,line){
var lenScale = line.length / line.waves; // scales the length into radians
var phase = distance * Math.PI * 2 / lenScale; // get the wave phase at this point
var dist = Math.sin(phase) * line.amplitude; // get the distance from the line to the point on the wavy curve
var slope = Math.cos(phase ) * Math.PI * 2 * line.amplitude / lenScale; // derivitive of sin(a*x) is -a*cos(a*x)
// transform tangent (slope) into a vector along the line. This vector is not a unit vector so normalize it
var tangent = normalize({
x : line.norm.x - line.norm.y * slope,
y : line.norm.y + line.norm.x * slope
});
// move from the line start to the point on the linear line at distance
var linear = {
x : line.start.x + line.norm.x * distance,
y : line.start.y + line.norm.y * distance
}
// move out perpendicular to the wavy part
return {
x : linear.x - line.norm.y * dist,
y : linear.y + line.norm.x * dist,
tangent,linear
};
}
// create a wavy line
var wLine = wavyLine({x:10,y:100},{x:300,y:100},3,50);
// draw the wavy line and show some points on it
function display(timer){
globalTime = timer;
ctx.setTransform(1,0,0,1,0,0); // reset transform
ctx.globalAlpha = 1; // reset alpha
ctx.clearRect(0,0,w,h);
var radius = Math.max(ch,cw);
// set up the wavy line
wLine.waves = Math.sin(timer / 10000) * 6;
wLine.start.x = Math.cos(timer / 50000) * radius + cw;
wLine.start.y = Math.sin(timer / 50000) * radius + ch;
wLine.end.x = -Math.cos(timer / 50000) * radius + cw;
wLine.end.y = -Math.sin(timer / 50000) * radius + ch ;
wLine.update();
// draw the linear line
ctx.lineWidth = 0.5;
ctx.strokeStyle = "blue";
ctx.beginPath();
ctx.moveTo(wLine.start.x, wLine.start.y);
ctx.lineTo(wLine.end.x, wLine.end.y);
ctx.stroke();
// draw the wavy line
ctx.lineWidth = 2;
ctx.strokeStyle = "black";
drawWavyLine(wLine);
// find point nearest mouse
var p = closestPointOnLine(mouse,wLine);
ctx.lineWidth = 1;
ctx.strokeStyle = "red";
ctx.beginPath();
ctx.arc(p.x,p.y,5,0,Math.PI * 2);
ctx.moveTo(p.x + p.tangent.x * 20,p.y + p.tangent.y * 20);
ctx.lineTo(p.x - p.tangent.y * 10,p.y + p.tangent.x * 10);
ctx.lineTo(p.x + p.tangent.y * 10,p.y - p.tangent.x * 10);
ctx.closePath();
ctx.stroke();
// find points at equal distance along line
ctx.lineWidth = 1;
ctx.strokeStyle = "blue";
ctx.beginPath();
for(var i = 0; i < w; i += w / 10){
var p = pointAtDistance(i,wLine);
ctx.moveTo(p.x + 5,p.y);
ctx.arc(p.x,p.y,5,0,Math.PI * 2);
ctx.moveTo(p.x,p.y);
ctx.lineTo(p.linear.x,p.linear.y);
ctx.moveTo(p.x + p.tangent.x * 40, p.y + p.tangent.y * 40);
ctx.lineTo(p.x - p.tangent.x * 40, p.y - p.tangent.y * 40);
}
ctx.stroke();
}
/******************************************************************************
The code from here down is generic full page mouse and canvas boiler plate
code. As I do many examples which all require the same mouse and canvas
functionality I have created this code to keep a consistent interface. The
Code may or may not be part of the answer.
This code may or may not have ES6 only sections so will require a transpiler
such as babel.js to run on legacy browsers.
*****************************************************************************/
// V2.0 ES6 version for Stackoverflow and Groover QuickRun
var w, h, cw, ch, canvas, ctx, mouse, globalTime = 0;
// You can declare onResize (Note the capital R) as a callback that is also
// called once at start up. Warning on first call canvas may not be at full
// size.
;(function(){
const RESIZE_DEBOUNCE_TIME = 100;
var resizeTimeoutHandle;
var firstRun = true;
function createCanvas () {
var c,cs;
cs = (c = document.createElement("canvas")).style;
cs.position = "absolute";
cs.top = cs.left = "0px";
cs.zIndex = 1000;
document.body.appendChild(c);
return c;
}
function resizeCanvas () {
if (canvas === undefined) { canvas = createCanvas() }
canvas.width = innerWidth;
canvas.height = innerHeight;
ctx = canvas.getContext("2d");
if (typeof setGlobals === "function") { setGlobals() }
if (typeof onResize === "function") {
clearTimeout(resizeTimeoutHandle);
if (firstRun) { onResize() }
else { resizeTimeoutHandle = setTimeout(onResize, RESIZE_DEBOUNCE_TIME) }
firstRun = false;
}
}
function setGlobals () {
cw = (w = canvas.width) / 2;
ch = (h = canvas.height) / 2;
}
mouse = (function () {
var m; // alias for mouse
var mouse = {
x : 0, y : 0, // mouse position and wheel
buttonRaw : 0,
buttonOnMasks : [0b1, 0b10, 0b100], // mouse button on masks
buttonOffMasks : [0b110, 0b101, 0b011], // mouse button off masks
bounds : null,
eventNames : "mousemove,mousedown,mouseup".split(","),
event(e) {
var t = e.type;
m.bounds = m.element.getBoundingClientRect();
m.x = e.pageX - m.bounds.left - scrollX;
m.y = e.pageY - m.bounds.top - scrollY;
if (t === "mousedown") { m.buttonRaw |= m.buttonOnMasks[e.which - 1] }
else if (t === "mouseup") { m.buttonRaw &= m.buttonOffMasks[e.which - 1] }
},
start(element) {
m.element = element === undefined ? document : element;
m.eventNames.forEach(name => document.addEventListener(name, mouse.event) );
},
}
m = mouse;
return mouse;
})();
function update(timer) { // Main update loop
globalTime = timer;
display(timer); // call demo code
requestAnimationFrame(update);
}
setTimeout(function(){
canvas = createCanvas();
mouse.start(canvas);
resizeCanvas();
window.addEventListener("resize", resizeCanvas);
requestAnimationFrame(update);
},0);
})();

We have points A and B. Difference vector
D.X = B.X - A.X
D.Y = B.Y - A.Y
Length = Sqrt(D.X * D.X + D.Y * D.Y)
normalized (unit) vector
uD.X = D.X / Length
uD.Y = D.Y / Length
perpendicular unit vector
P.X = - uD.Y
P.Y = uD.X
some red point:
R.X = A.X + uD.X * Dist + P.X * SideDist * SideSign
R.Y = A.Y + uD.Y * Dist + P.Y * SideDist * SideSign
where Dist is in range 0..Length
Dist = i / N * Length for N equidistant points
SideSign is +/- 1 for left and right side

Javascript, Canvas: Calculating the angle from a flying bubble

What I have:
A lot of bubbles. But to make it more simple, let's say I have two. When they meet each other they collide and change the direction.
var xVelocityBubble1 = Math.random();
var yVelocityBubble1 = Math.random();
var xVelocityBubble2 = Math.random();
var yVelocityBubble2 = Math.random();
moveBubbles = function() {
xbubble1 += xVelocityBubble1;
ybubble1 += yVelocityBubble1;
xbubble2 -= xVelocityBubble2;
xbubble2 -= yVelocityBubble2;
if (Math.sqrt(Math.pow(xbubble1 - xbubble2, 2) + Math.pow(ybubble1 - ybubble2, 2)) < radius * 2) {
xVelocityBubble1 *= -1;
yVelocityBubble1 *= -1;
xVelocityBubble2 *= -1;
yVelocityBubble2 *= -1;
}
}
What I want:
I do not want the circles to simply change the direction, because that looks strange and boring. So I want to calculate the angle where the circle meet, and from that I need to calculate how much momentum they exchange and how that affects each circle.
My problem:
I really do not know how to calculate the angle and the momentum! Any hints?

To get the angle between those two bubbles if they collide do as follows:
get the direction vector in which one of those bubbles were moving
direction = {x: Math.abs(xVelocityBubble1), y: Math.abs(yVelocityBubble1)};
Then normalize that vector (divide it's x and y components by it's length)
After doing that you'll have the cosine of the angle as the x component and the sine as the y, just use any of them in Math.acos or Math.asin and you'll have the angle in which they collided.

This code shows collision of asteroids:
for (var i = 0; i < asteroidsLength; i++) {
var tmpAsteroid = asteroids[i];
for (var j = i + 1; j < asteroidsLength; j++) {
var tmpAsteroidB = asteroids[j];
var dX = tmpAsteroidB.x - tmpAsteroid.x;
var dY = tmpAsteroidB.y - tmpAsteroid.y;
var distance = Math.sqrt((dX * dX) + (dY * dY));
if (distance < tmpAsteroid.radius + tmpAsteroidB.radius) {
var angle = Math.atan2(dY, dX);
var sine = Math.sin(angle);
var cosine = Math.cos(angle);
// Rotate asteroid position
var x = 0;
var y = 0;
// Rotate asteroidB position
var xB = dX * cosine + dY * sine;
var yB = dY * cosine - dX * sine;
// Rotate asteroid velocity
var vX = tmpAsteroid.vX * cosine + tmpAsteroid.vY * sine;
var vY = tmpAsteroid.vY * cosine - tmpAsteroid.vX * sine;
// Rotate asteroidB velocity
var vXb = tmpAsteroidB.vX * cosine + tmpAsteroidB.vY * sine;
var vYb = tmpAsteroidB.vY * cosine - tmpAsteroidB.vX * sine;
// Conserve momentum
var vTotal = vX - vXb;
vX = ((tmpAsteroid.mass - tmpAsteroidB.mass) * vX + 2 * tmpAsteroidB.mass * vXb) / (tmpAsteroid.mass + tmpAsteroidB.mass);
vXb = vTotal + vX;
// Move asteroids apart
xB = x + (tmpAsteroid.radius + tmpAsteroidB.radius);
// Rotate asteroid positions back
tmpAsteroid.x = tmpAsteroid.x + (x * cosine - y * sine);
tmpAsteroid.y = tmpAsteroid.y + (y * cosine + x * sine);
tmpAsteroidB.x = tmpAsteroid.x + (xB * cosine - yB * sine);
tmpAsteroidB.y = tmpAsteroid.y + (yB * cosine + xB * sine);
// Rotate asteroid velocities back
tmpAsteroid.vX = vX * cosine - vY * sine;
tmpAsteroid.vY = vY * cosine + vX * sine;
tmpAsteroidB.vX = vXb * cosine - vYb * sine;
tmpAsteroidB.vY = vYb * cosine + vXb * sine;
};
};