Package org.jbox2d.common

Examples of org.jbox2d.common.Mat22

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        C.set(b2.m_sweep.c).addLocal(r2).subLocal(b1.m_sweep.c).subLocal(r1);
       
        pool.pushVec2(1);
      }
     
      Mat22 K1 = pool.popMat22();
      K1.m11 = invMass1 + invMass2;
      K1.m21 = 0.0f;
      K1.m12 = 0.0f;
      K1.m22 = invMass1 + invMass2;
     
      Mat22 K2 = pool.popMat22();
      K2.m11 = invI1 * r1.y * r1.y;
      K2.m21 = -invI1 * r1.x * r1.y;
      K2.m12 = -invI1 * r1.x * r1.y;
      K2.m22 = invI1 * r1.x * r1.x;
     
      Mat22 K3 = pool.popMat22();
      K3.m11 = invI2 * r2.y * r2.y;
      K3.m21 = -invI2 * r2.x * r2.y;
      K3.m12 = -invI2 * r2.x * r2.y;
      K3.m22 = invI2 * r2.x * r2.x;
     
 
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        }
        pointCount = 0;
        localNormal = new Vec2();
        localPoint = new Vec2();
        normal = new Vec2();
        normalMass = new Mat22();
        K = new Mat22();

    }
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        b.x = vn1 - cp1.velocityBias;
        b.y = vn2 - cp2.velocityBias;
        // System.out.println("b is " + b.x + "," + b.y);

        // Compute b'
        Mat22 R = vc.K;
        b.x -= R.ex.x * a.x + R.ey.x * a.y;
        b.y -= R.ex.y * a.x + R.ey.y * a.y;
        // System.out.println("b' is " + b.x + "," + b.y);

        // final float k_errorTol = 1e-3f;
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      float k22 = iA + iB;
      if (k22 == 0.0f) {
        k22 = 1.0f;
      }

      final Mat22 K = pool.popMat22();
      K.ex.set(k11, k12);
      K.ey.set(k12, k22);

      // temp is impulse1
      K.solveToOut(C1.negateLocal(), temp);
      C1.negateLocal();

      impulse.x = temp.x;
      impulse.y = temp.y;
      impulse.z = 0.0f;
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        b.x = vn1 - cp1.velocityBias;
        b.y = vn2 - cp2.velocityBias;
        // System.out.println("b is " + b.x + "," + b.y);

        // Compute b'
        Mat22 R = vc.K;
        b.x -= R.ex.x * a.x + R.ey.x * a.y;
        b.y -= R.ex.y * a.x + R.ey.y * a.y;
        // System.out.println("b' is " + b.x + "," + b.y);

        // final float k_errorTol = 1e-3f;
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    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);

    // K = [(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]
    final Mat22 K = pool.popMat22();
    K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
    K.ex.y = -m_invIB * m_rB.x * m_rB.y;
    K.ey.x = K.ex.y;
    K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;

    K.invertToOut(m_mass);

    m_C.set(cB).addLocal(m_rB).subLocal(m_targetA);
    m_C.mulLocal(m_beta);

    // Cheat with some damping
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      positionError = C.length();

      float mA = m_invMassA, mB = m_invMassB;
      float iA = m_invIA, iB = m_invIB;

      final Mat22 K = pool.popMat22();
      K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
      K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
      K.ey.x = K.ex.y;
      K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
      K.solveToOut(C, impulse);
      impulse.negateLocal();

      cA.x -= mA * impulse.x;
      cA.y -= mA * impulse.y;
      aA -= iA * Vec2.cross(rA, impulse);
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    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);

    // K = [(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]
    final Mat22 K = pool.popMat22();
    K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
    K.ex.y = -m_invIB * m_rB.x * m_rB.y;
    K.ey.x = K.ex.y;
    K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;

    K.invertToOut(m_mass);

    m_C.set(cB).addLocal(m_rB).subLocal(m_targetA);
    m_C.mulLocal(m_beta);

    // Cheat with some damping
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      positionError = C.length();

      float mA = m_invMassA, mB = m_invMassB;
      float iA = m_invIA, iB = m_invIB;

      final Mat22 K = pool.popMat22();
      K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
      K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
      K.ey.x = K.ex.y;
      K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
      K.solveToOut(C, impulse);
      impulse.negateLocal();

      cA.x -= mA * impulse.x;
      cA.y -= mA * impulse.y;
      aA -= iA * Vec2.cross(rA, impulse);
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    // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]

    float mA = m_invMassA, mB = m_invMassB;
    float iA = m_invIA, iB = m_invIB;

    final Mat22 K = pool.popMat22();
    K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
    K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
    K.ey.x = K.ex.y;
    K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;

    K.invertToOut(m_linearMass);

    m_angularMass = iA + iB;
    if (m_angularMass > 0.0f) {
      m_angularMass = 1.0f / m_angularMass;
    }
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Related Classes of org.jbox2d.common.Mat22

  • org.jbox2d.collision.WorldManifold
  • org.jbox2d.dynamics.contacts.ContactConstraint
  • org.jbox2d.dynamics.contacts.ContactSolver
  • org.jbox2d.dynamics.joints.FrictionJoint
  • org.jbox2d.dynamics.joints.LineJoint
  • org.jbox2d.dynamics.joints.MotorJoint
  • org.jbox2d.dynamics.joints.MouseJoint
  • org.jbox2d.dynamics.joints.PrismaticJoint
  • org.jbox2d.dynamics.joints.RevoluteJoint
  • org.jbox2d.pooling.normal.DefaultWorldPool
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