Examples of net.phys2d.math.ROVector2f

net.phys2d.math.ROVector2f
A readonly two dimensional vector @author Kevin Glass

        }
      }
    }


    if (turning) {
      ROVector2f velocity = physics.getBody().getVelocity();
      float lengthSquared = velocity.lengthSquared()/20000f;
      tf.setFactor(tf.getFactor() * (lengthSquared/MAX_VELOCITY));
      
      updateRotating(player);


      //transform.addRotation(delta * (turnFactor * (v.getVelocity() / MAX_VELOCITY)));

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      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);
  
      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) p2.getX(), (int) p2.getY());
      g.drawLine((int) p2.getX(), (int) p2.getY(), (int) x2.getX(), (int) x2.getY());
    }
  }

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    hB.scale(0.5f);
    //Vector2f hB = MathUtil.scale(((Box) bodyB.getShape()).getSize(), 0.5f);
    //Vector2f hA = MathUtil.scale(bodyA.getSize(), 0.5f);
    //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));
    
    if (faceA.x > 0.0f || faceA.y > 0.0f) {
      return 0;
    }


    // Box B faces
    Vector2f faceB = MathUtil.abs(dB);
    faceB.sub(MathUtil.mul(absCT,hA));
    faceB.sub(hB);
    //MathUtil.sub(MathUtil.sub(MathUtil.abs(dB),MathUtil.mul(absCT,hA)),hB);
    if (faceB.x > 0.0f || faceB.y > 0.0f) {
      return 0;
    }


    // Find best axis
    int axis;
    float separation;
    Vector2f normal;


    // Box A faces
    axis = FACE_A_X;
    separation = faceA.x;
    normal = dA.x > 0.0f ? rotA.col1 : MathUtil.scale(rotA.col1,-1);


    if (faceA.y > 1.05f * separation + 0.01f * hA.y)
    {
      axis = FACE_A_Y;
      separation = faceA.y;
      normal = dA.y > 0.0f ? rotA.col2 : MathUtil.scale(rotA.col2,-1);
    }


    // Box B faces
    if (faceB.x > 1.05f * separation + 0.01f * hB.x)
    {
      axis = FACE_B_X;
      separation = faceB.x;
      normal = dB.x > 0.0f ? rotB.col1 : MathUtil.scale(rotB.col1,-1);
    }


    if (faceB.y > 1.05f * separation + 0.01f * hB.y)
    {
      axis = FACE_B_Y;
      separation = faceB.y;
      normal = dB.y > 0.0f ? rotB.col2 : MathUtil.scale(rotB.col2,-1);
    }


    // Setup clipping plane data based on the separating axis
    Vector2f frontNormal, sideNormal;
    ClipVertex[] incidentEdge = new ClipVertex[] {new ClipVertex(), new ClipVertex()};
    float front, negSide, posSide;
    char negEdge, posEdge;


    // Compute the clipping lines and the line segment to be clipped.
    switch (axis)
    {
    case FACE_A_X:
      {
        frontNormal = normal;
        front = posA.dot(frontNormal) + hA.x;
        sideNormal = rotA.col2;
        float side = posA.dot(sideNormal);
        negSide = -side + hA.y;
        posSide =  side + hA.y;
        negEdge = EDGE3;
        posEdge = EDGE1;
        computeIncidentEdge(incidentEdge, hB, posB, rotB, frontNormal);
      }
      break;


    case FACE_A_Y:
      {
        frontNormal = normal;
        front = posA.dot(frontNormal) + hA.y;
        sideNormal = rotA.col1;
        float side = posA.dot(sideNormal);
        negSide = -side + hA.x;
        posSide =  side + hA.x;
        negEdge = EDGE2;
        posEdge = EDGE4;
        computeIncidentEdge(incidentEdge, hB, posB, rotB, frontNormal);
      }
      break;


    case FACE_B_X:
      {
        frontNormal = MathUtil.scale(normal,-1);
        front = posB.dot(frontNormal) + hB.x;
        sideNormal = rotB.col2;
        float side = posB.dot(sideNormal);
        negSide = -side + hB.y;
        posSide =  side + hB.y;
        negEdge = EDGE3;
        posEdge = EDGE1;
        computeIncidentEdge(incidentEdge, hA, posA, rotA, frontNormal);
      }
      break;


    case FACE_B_Y:
      {
        frontNormal = MathUtil.scale(normal,-1);
        front = posB.dot(frontNormal) + hB.y;
        sideNormal = rotB.col1;
        float side = posB.dot(sideNormal);
        negSide = -side + hB.x;
        posSide =  side + hB.x;
        negEdge = EDGE2;
        posEdge = EDGE4;
        computeIncidentEdge(incidentEdge, hA, posA, rotA, frontNormal);

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    // compute intersection of the line A and a line parallel to 
    // the line A's normal passing through the origin of B
    Vector2f startA = vertsA[0];
    Vector2f endA = vertsA[1];
    ROVector2f startB = bodyB.getPosition();
    Vector2f endB = new Vector2f(endA);
    endB.sub(startA);
    endB.set(endB.y, -endB.x);
//    endB.add(startB);// TODO: inline endB into equations below, this last operation will be useless..
    
    //TODO: reuse mathutil.intersect
//    float d = (endB.y - startB.getY()) * (endA.x - startA.x);
//    d -= (endB.x - startB.getX()) * (endA.y - startA.y);
//    
//    float uA = (endB.x - startB.getX()) * (startA.y - startB.getY());
//    uA -= (endB.y - startB.getY()) * (startA.x - startB.getX());
//    uA /= d;
    float d = endB.y * (endA.x - startA.x);
    d -= endB.x * (endA.y - startA.y);
    
    float uA = endB.x * (startA.y - startB.getY());
    uA -= endB.y * (startA.x - startB.getX());
    uA /= d;
    
    Vector2f position = null;
    
    if ( uA < 0 ) { // the intersection is somewhere before startA

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   * @return The points building up a box at this position and rotation
   */
  public Vector2f[] getPoints(ROVector2f pos, float rotation) {
    Matrix2f R = new Matrix2f(rotation);
    Vector2f[] pts = new Vector2f[4];
    ROVector2f h = MathUtil.scale(getSize(),0.5f);


    pts[0] = MathUtil.mul(R, new Vector2f(-h.getX(), -h.getY()));
    pts[0].add(pos);
    pts[1] = MathUtil.mul(R, new Vector2f(h.getX(), -h.getY()));
    pts[1].add(pos);
    pts[2] = MathUtil.mul(R, new Vector2f( h.getX(),  h.getY()));
    pts[2].add(pos);
    pts[3] = MathUtil.mul(R, new Vector2f(-h.getX(),  h.getY()));
    pts[3].add(pos);


    return pts;
  }

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    addAxisAlignedWall(new Stone(), startX, startY, x, y);
  }
  
  public Body addFigure(float footX, float footY) {
    float oldMass = setMass(Figure.MASS);
    ROVector2f oldPosition = setPosition(new Vector2f(footX + Figure.WIDTH / 2.0f, footY - Figure.HEIGHT / 2.0f));
    Body figure = addAxisAlignedBox(new Figure(), Figure.WIDTH, Figure.HEIGHT);
    setMass(oldMass);
    setPosition(oldPosition);
    return figure;
  }

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    return figure;
  }
  
  public Body addSimpleFootSoldier(float footX, float footY, short dir, Float leftBorder, Float rightBorder) {
    float oldMass = setMass(SimpleFootSoldier.MASS);
    ROVector2f oldPosition = setPosition(new Vector2f(footX + SimpleFootSoldier.WIDTH / 2.0f, footY - SimpleFootSoldier.HEIGHT / 2.0f));
    Body soldier = addAxisAlignedBox(new SimpleFootSoldier(dir, leftBorder, rightBorder), SimpleFootSoldier.WIDTH, SimpleFootSoldier.HEIGHT);
    setMass(oldMass);
    setPosition(oldPosition);
    return soldier;
  }

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    return addSimpleFootSoldier(footX, footY, SimpleFootSoldier.LEFT, null, null);
  }
  
  public Body addArmouredFootSoldier(float footX, float footY, short dir, Float leftBorder, Float rightBorder) {
    float oldMass = setMass(SimpleFootSoldier.MASS);
    ROVector2f oldPosition = setPosition(new Vector2f(footX + SimpleFootSoldier.WIDTH / 2.0f, footY - SimpleFootSoldier.HEIGHT / 2.0f));
    Body soldier = addAxisAlignedBox(new ArmouredFootSoldier(dir, leftBorder, rightBorder), SimpleFootSoldier.WIDTH, SimpleFootSoldier.HEIGHT);
    setMass(oldMass);
    setPosition(oldPosition);
    return soldier;
  }

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    return soldier;
  }
  
  public Body addVerticalSlider(float footX, float footY, float x, float y, float upperBorder, float lowerBorder) {
    float oldMass = setMass(VerticalSlider.MASS);
    ROVector2f oldPosition = setPosition(new Vector2f(footX + x / 2.0f, footY + y / 2.0f));
    Body slider = addAxisAlignedBox(new VerticalSlider(upperBorder, lowerBorder), x, y);
    setMass(oldMass);
    setPosition(oldPosition);
    return slider;
  }

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    return slider;
  }
  
  public Body addHorizontalSlider(float footX, float footY, float x, float y, short dir, float leftBorder, float rightBorder) {
    float oldMass = setMass(HorizontalSlider.MASS);
    ROVector2f oldPosition = setPosition(new Vector2f(footX + x / 2.0f, footY + y / 2.0f));
    Body slider = addAxisAlignedWall(new HorizontalSlider(dir, leftBorder, rightBorder), x, y);
    setMass(oldMass);
    setPosition(oldPosition);
    return slider;
  }

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