Package net.phys2d.math

Examples of net.phys2d.math.Matrix2f

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      Vector2f anchor2, int chains, World world, float initRot) {

    final int N = chains;

    final Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(MathUtil.mul(new Matrix2f(body1.getRotation()), anchor1));

    Vector2f p2 = null;
    if (body2 != null) {
      p2 = new Vector2f(body2.getPosition());
      p2.add(MathUtil.mul(new Matrix2f(body2.getRotation()), anchor2));
    } else {
      p2 = new Vector2f(p1);
      p2.add(new Vector2f(chains * 20, 0));
    }

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      SlideJoint joint = (SlideJoint) j;
     
      Body b1 = joint.getBody1();
      Body b2 = joint.getBody2();
 
      Matrix2f R1 = new Matrix2f(b1.getRotation());
      Matrix2f R2 = new Matrix2f(b2.getRotation());
 
      ROVector2f x1 = b1.getPosition();
      Vector2f p1 = MathUtil.mul(R1,joint.getAnchor1());
      p1.add(x1);
 
      ROVector2f x2 = b2.getPosition();
      Vector2f p2 = MathUtil.mul(R2,joint.getAnchor2());
      p2.add(x2);
     
      Vector2f im = new Vector2f(p2);
      im.sub(p1);
      im.normalise();
     
     
     
      g.setColor(Color.red);
      g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+im.x*joint.getMinDistance()),(int)(p1.y+im.y*joint.getMinDistance()));
      g.setColor(Color.blue);
      g.drawLine((int)(p1.x+im.x*joint.getMinDistance()),(int)(p1.y+im.y*joint.getMinDistance()),(int)(p1.x+im.x*joint.getMaxDistance()),(int)(p1.y+im.y*joint.getMaxDistance()));
    }
    if(j instanceof AngleJoint){
      AngleJoint angleJoint = (AngleJoint)j;
      Body b1 = angleJoint.getBody1();
      Body b2 = angleJoint.getBody2();
      float RA = j.getBody1().getRotation() + angleJoint.getRotateA();
      float RB = j.getBody1().getRotation() + angleJoint.getRotateB();
     
      Vector2f VA = new Vector2f((float) Math.cos(RA), (float) Math.sin(RA));
      Vector2f VB = new Vector2f((float) Math.cos(RB), (float) Math.sin(RB));
     
      Matrix2f R1 = new Matrix2f(b1.getRotation());
      Matrix2f R2 = new Matrix2f(b2.getRotation());
     
      ROVector2f x1 = b1.getPosition();
      Vector2f p1 = MathUtil.mul(R1,angleJoint.getAnchor1());
      p1.add(x1);
 
      ROVector2f x2 = b2.getPosition();
      Vector2f p2 = MathUtil.mul(R2,angleJoint.getAnchor2());
      p2.add(x2);
     
      g.setColor(Color.red);
      g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+VA.x*20),(int)(p1.y+VA.y*20));
      g.drawLine((int)p1.x,(int)p1.y,(int)(p1.x+VB.x*20),(int)(p1.y+VB.y*20));
    }
    if (j instanceof BasicJoint) {
      BasicJoint joint = (BasicJoint) j;
     
      Body b1 = joint.getBody1();
      Body b2 = joint.getBody2();
 
      Matrix2f R1 = new Matrix2f(b1.getRotation());
      Matrix2f R2 = new Matrix2f(b2.getRotation());
 
      ROVector2f x1 = b1.getPosition();
      Vector2f p1 = MathUtil.mul(R1,joint.getLocalAnchor1());
      p1.add(x1);
 
      ROVector2f x2 = b2.getPosition();
      Vector2f p2 = MathUtil.mul(R2,joint.getLocalAnchor2());
      p2.add(x2);
 
      g.setColor(Color.red);
      g.drawLine((int) x1.getX(), (int) x1.getY(), (int) p1.x, (int) p1.y);
      g.drawLine((int) p1.x, (int) p1.y, (int) x2.getX(), (int) x2.getY());
      g.drawLine((int) x2.getX(), (int) x2.getY(), (int) p2.x, (int) p2.y);
      g.drawLine((int) p2.x, (int) p2.y, (int) x1.getX(), (int) x1.getY());
    }
    if(j instanceof DistanceJoint){
      DistanceJoint joint = (DistanceJoint) j;
     
      Body b1 = joint.getBody1();
      Body b2 = joint.getBody2();
 
      Matrix2f R1 = new Matrix2f(b1.getRotation());
      Matrix2f R2 = new Matrix2f(b2.getRotation());
 
      ROVector2f x1 = b1.getPosition();
      Vector2f p1 = MathUtil.mul(R1,joint.getAnchor1());
      p1.add(x1);
 
      ROVector2f x2 = b2.getPosition();
      Vector2f p2 = MathUtil.mul(R2,joint.getAnchor2());
      p2.add(x2);
     
      g.setColor(Color.red);
      g.drawLine((int) p1.getX(), (int) p1.getY(), (int) p2.x, (int) p2.y);
    }
    if (j instanceof SpringJoint) {
      SpringJoint joint = (SpringJoint) j;
     
      Body b1 = joint.getBody1();
      Body b2 = joint.getBody2();
 
      Matrix2f R1 = new Matrix2f(b1.getRotation());
      Matrix2f R2 = new Matrix2f(b2.getRotation());
 
      ROVector2f x1 = b1.getPosition();
      Vector2f p1 = MathUtil.mul(R1,joint.getLocalAnchor1());
      p1.add(x1);
 
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                  ROVector2f h,
                  ROVector2f pos,
                  Matrix2f rot, Vector2f normal) {
    // The normal is from the reference box. Convert it
    // to the incident boxe's frame and flip sign.
    Matrix2f rotT = rot.transpose();
    Vector2f n = MathUtil.scale(MathUtil.mul(rotT,normal),-1);
    Vector2f nAbs = MathUtil.abs(n);

    if (nAbs.x > nAbs.y)
    {
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    //Vector2f hB = MathUtil.scale(bodyB.getSize(), 0.5f);

    ROVector2f posA = bodyA.getPosition();
    ROVector2f posB = bodyB.getPosition();

    Matrix2f rotA = new Matrix2f(bodyA.getRotation());
    Matrix2f rotB = new Matrix2f(bodyB.getRotation());

    Matrix2f RotAT = rotA.transpose();
    Matrix2f RotBT = rotB.transpose();

    // unused?
//    Vector2f a1 = rotA.col1;
//    Vector2f a2 = rotA.col2;
//    Vector2f b1 = rotB.col1;
//    Vector2f b2 = rotB.col2;

    Vector2f dp = MathUtil.sub(posB,posA);
    Vector2f dA = MathUtil.mul(RotAT,dp);
    Vector2f dB = MathUtil.mul(RotBT,dp);

    Matrix2f C = MathUtil.mul(RotAT,rotB);
    Matrix2f absC = MathUtil.abs(C);
    Matrix2f absCT = absC.transpose();

    // Box A faces
    Vector2f faceA = MathUtil.abs(dA);
    faceA.sub(hA);
    faceA.sub(MathUtil.mul(absC,hB));
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   */
  public void set(Body b1, Body b2, ROVector2f anchor1, ROVector2f anchor2) {
    body1 = b1;
    body2 = b2; 

    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot1T = rot1.transpose();
    Vector2f a1 = new Vector2f(anchor1);
    a1.sub(body1.getPosition());
    localAnchor1 = MathUtil.mul(rot1T,a1);
   
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Matrix2f rot2T = rot2.transpose();
    Vector2f a2 = new Vector2f(anchor2);
    a2.sub(body2.getPosition());
    localAnchor2 = MathUtil.mul(rot2T,a2);
  }
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    // but here it can
    float springConst;
   
    if ( springLength < minSpringSize || springLength > maxSpringSize ) {
      // Pre-compute anchors, mass matrix, and bias.
      Matrix2f rot1 = new Matrix2f(body1.getRotation());
      Matrix2f rot2 = new Matrix2f(body2.getRotation());
 
      r1 = MathUtil.mul(rot1,localAnchor1);
      r2 = MathUtil.mul(rot2,localAnchor2);
     
      // the mass normal or 'k'
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   */
  public void set(Body b1, Body b2, Vector2f anchor) {
    body1 = b1;
    body2 = b2;

    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Matrix2f rot1T = rot1.transpose();
    Matrix2f rot2T = rot2.transpose();

    Vector2f a1 = new Vector2f(anchor);
    a1.sub(body1.getPosition());
    localAnchor1 = MathUtil.mul(rot1T,a1);
    Vector2f a2 = new Vector2f(anchor);
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   *
   * @param invDT The amount of time the simulation is being stepped by
   */
  public void preStep(float invDT) {
    // Pre-compute anchors, mass matrix, and bias.
    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot2 = new Matrix2f(body2.getRotation());

    r1 = MathUtil.mul(rot1,localAnchor1);
    r2 = MathUtil.mul(rot2,localAnchor2);

    // deltaV = deltaV0 + K * impulse
    // invM = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
    //      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
    //        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
    Matrix2f K1 = new Matrix2f();
    K1.col1.x = body1.getInvMass() + body2.getInvMass();  K1.col2.x = 0.0f;
    K1.col1.y = 0.0f;                K1.col2.y = body1.getInvMass() + body2.getInvMass();

    Matrix2f K2 = new Matrix2f();
    K2.col1.x =  body1.getInvI() * r1.y * r1.y;    K2.col2.x = -body1.getInvI() * r1.x * r1.y;
    K2.col1.y = -body1.getInvI() * r1.x * r1.y;    K2.col2.y =  body1.getInvI() * r1.x * r1.x;

    Matrix2f K3 = new Matrix2f();
    K3.col1.x =  body2.getInvI() * r2.y * r2.y;    K3.col2.x = -body2.getInvI() * r2.x * r2.y;
    K3.col1.y = -body2.getInvI() * r2.x * r2.y;    K3.col2.y =  body2.getInvI() * r2.x * r2.x;

    Matrix2f K = MathUtil.add(MathUtil.add(K1,K2),K3);
    M = K.invert();

    Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(r1);
    Vector2f p2 = new Vector2f(body2.getPosition());
    p2.add(r2);
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  /**
   * @see net.phys2d.raw.Joint#preStep(float)
   */
  public void preStep(float invDT) {
    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    r1 = MathUtil.mul(rot1, anchor1);
    r2 = MathUtil.mul(rot2, anchor2);

    Matrix2f K1 = new Matrix2f();
    K1.col1.x = body1.getInvMass() + body2.getInvMass();
    K1.col2.x = 0.0f;
    K1.col1.y = 0.0f;
    K1.col2.y = body1.getInvMass() + body2.getInvMass();

    Matrix2f K2 = new Matrix2f();
    K2.col1.x = body1.getInvI() * r1.y * r1.y;
    K2.col2.x = -body1.getInvI() * r1.x * r1.y;
    K2.col1.y = -body1.getInvI() * r1.x * r1.y;
    K2.col2.y = body1.getInvI() * r1.x * r1.x;

    Matrix2f K3 = new Matrix2f();
    K3.col1.x = body2.getInvI() * r2.y * r2.y;
    K3.col2.x = -body2.getInvI() * r2.x * r2.y;
    K3.col1.y = -body2.getInvI() * r2.x * r2.y;
    K3.col2.y = body2.getInvI() * r2.x * r2.x;

    Matrix2f K = MathUtil.add(MathUtil.add(K1, K2), K3);

    Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(r1);
    Vector2f p2 = new Vector2f(body2.getPosition());
    p2.add(r2);
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  /**
   * @see net.phys2d.raw.Joint#preStep(float)
   */
  public void preStep(float invDT) {
    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Vector2f r1 = MathUtil.mul(rot1, anchor1);
    Vector2f r2 = MathUtil.mul(rot2, anchor2);

    Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(r1);
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Related Classes of net.phys2d.math.Matrix2f

  • net.phys2d.math.Vector2f
  • net.phys2d.raw.AngleJoint
  • net.phys2d.raw.BasicJoint
  • net.phys2d.raw.collide.BoxBoxCollider
  • net.phys2d.raw.DistanceJoint
  • net.phys2d.raw.ElasticJoint
  • net.phys2d.raw.FixedAngleJoint
  • net.phys2d.raw.shapes.Box
  • net.phys2d.raw.SlideJoint
  • net.phys2d.raw.SpringJoint
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