Package org.jbox2d.common

Examples of org.jbox2d.common.Rot

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  public boolean solvePositionConstraints(final SolverData data) {
    Vec2 cA = data.positions[m_indexA].c;
    float aA = data.positions[m_indexA].a;
    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 temp = pool.popVec2();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

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

    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
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    // Transform.mulTransToOut(xfA, c, cLocal);
    // final float cLocalx = cLocal.x;
    // final float cLocaly = cLocal.y;
    // after inline:
    final Vec2 circlep = circle.m_p;
    final Rot xfBq = xfB.q;
    final Rot xfAq = xfA.q;
    final float cx = (xfBq.c * circlep.x - xfBq.s * circlep.y) + xfB.p.x;
    final float cy = (xfBq.s * circlep.x + xfBq.c * circlep.y) + xfB.p.y;
    final float px = cx - xfA.p.x;
    final float py = cy - xfA.p.y;
    final float cLocalx = (xfAq.c * px + xfAq.s * py);
 
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    Vec2[] n1s = poly1.m_normals;
    Vec2[] v1s = poly1.m_vertices;
    Vec2[] v2s = poly2.m_vertices;
   
    Transform.mulTransToOutUnsafe(xf2, xf1, xf);
    final Rot xfq = xf.q;

    int bestIndex = 0;
    float maxSeparation = -Float.MAX_VALUE;
    for (int i = 0; i < count1; i++) {
      // Get poly1 normal in frame2.
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    assert (0 <= edge1 && edge1 < count1);

    final ClipVertex c0 = c[0];
    final ClipVertex c1 = c[1];
    final Rot xf1q = xf1.q;
    final Rot xf2q = xf2.q;

    // Get the normal of the reference edge in poly2's frame.
    // Vec2 normal1 = MulT(xf2.R, Mul(xf1.R, normals1[edge1]));
    // before inline:
    // Rot.mulToOutUnsafe(xf1.q, normals1[edge1], normal1); // temporary
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      xf2 = xfB;
      edge1 = results1.edgeIndex;
      manifold.type = ManifoldType.FACE_A;
      flip = false;
    }
    final Rot xf1q = xf1.q;

    findIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);

    int count1 = poly1.m_count;
    final Vec2[] vertices1 = poly1.m_vertices;
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    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;

    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 temp = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
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    Vec2 cA = data.positions[m_indexA].c;
    float aA = data.positions[m_indexA].a;
    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;

    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 u = pool.popVec2();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 temp = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
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    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;

    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();

    qA.set(aA);
    qB.set(aB);

    // use m_u as temporary variable
    Rot.mulToOutUnsafe(qA, m_u.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
    Rot.mulToOutUnsafe(qB, m_u.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
    m_u.set(cB).addLocal(m_rB).subLocal(cA).subLocal(m_rA);
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  @Override
  public boolean solvePositionConstraints(final SolverData data) {
    if (m_frequencyHz > 0.0f) {
      return true;
    }
    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 u = pool.popVec2();

    Vec2 cA = data.positions[m_indexA].c;
    float aA = data.positions[m_indexA].a;
    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;

    qA.set(aA);
    qB.set(aB);

    Rot.mulToOutUnsafe(qA, u.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, u.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
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    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;

    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 temp = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
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Related Classes of org.jbox2d.common.Rot

  • org.jbox2d.collision.Collision
  • org.jbox2d.collision.shapes.ChainShape
  • org.jbox2d.collision.shapes.CircleShape
  • org.jbox2d.collision.shapes.EdgeShape
  • org.jbox2d.collision.shapes.PolygonShape
  • org.jbox2d.dynamics.Body
  • org.jbox2d.dynamics.contacts.ContactSolver
  • org.jbox2d.dynamics.contacts.PositionSolverManifold
  • org.jbox2d.dynamics.joints.DistanceJoint
  • org.jbox2d.dynamics.joints.FrictionJoint
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