Package org.jbox2d.common

Examples of org.jbox2d.common.Rot

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    pool.pushVec2(4);
  }

  @Override
  public boolean solvePositionConstraints(final SolverData data) {
    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 uA = pool.popVec2();
    final Vec2 uB = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    final Vec2 PA = pool.popVec2();
    final Vec2 PB = 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, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);

    uA.set(cA).addLocal(rA).subLocal(m_groundAnchorA);
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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 d = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, d.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, d.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    d.set(cB).subLocal(cA).addLocal(rB).subLocal(rA);
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  @Override
  public boolean solvePositionConstraints(final SolverData data) {

    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 d = pool.popVec2();
    final Vec2 axis = pool.popVec2();
    final Vec2 perp = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    final Vec2 C1 = pool.popVec2();

    final Vec3 impulse = pool.popVec3();

    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);

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

    // Compute fresh Jacobians
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      Vec2 vB = m_velocities[indexB].v;
      float wB = m_velocities[indexB].w;

      assert (manifold.pointCount > 0);

      final Rot xfAq = xfA.q;
      final Rot xfBq = xfB.q;
      xfAq.set(aA);
      xfBq.set(aB);
      xfA.p.x = cA.x - (xfAq.c * localCenterA.x - xfAq.s * localCenterA.y);
      xfA.p.y = cA.y - (xfAq.s * localCenterA.x + xfAq.c * localCenterA.y);
      xfB.p.x = cB.x - (xfBq.c * localCenterB.x - xfBq.s * localCenterB.y);
      xfB.p.y = cB.y - (xfBq.s * localCenterB.x + xfBq.c * localCenterB.y);

 
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      Vec2 cB = m_positions[indexB].c;
      float aB = m_positions[indexB].a;

      // Solve normal constraints
      for (int j = 0; j < pointCount; ++j) {
        final Rot xfAq = xfA.q;
        final Rot xfBq = xfB.q;
        xfAq.set(aA);
        xfBq.set(aB);
        xfA.p.x = cA.x - xfAq.c * localCenterAx + xfAq.s * localCenterAy;
        xfA.p.y = cA.y - xfAq.s * localCenterAx - xfAq.c * localCenterAy;
        xfB.p.x = cB.x - xfBq.c * localCenterBx + xfBq.s * localCenterBy;
        xfB.p.y = cB.y - xfBq.s * localCenterBx - xfBq.c * localCenterBy;

 
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      Vec2 cB = m_positions[indexB].c;
      float aB = m_positions[indexB].a;

      // Solve normal constraints
      for (int j = 0; j < pointCount; ++j) {
        final Rot xfAq = xfA.q;
        final Rot xfBq = xfB.q;
        xfAq.set(aA);
        xfBq.set(aB);
        xfA.p.x = cA.x - xfAq.c * localCenterAx + xfAq.s * localCenterAy;
        xfA.p.y = cA.y - xfAq.s * localCenterAx - xfAq.c * localCenterAy;
        xfB.p.x = cB.x - xfBq.c * localCenterBx + xfBq.s * localCenterBy;
        xfB.p.y = cB.y - xfBq.s * localCenterBx - xfBq.c * localCenterBy;

 
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    };
    aabbs = new OrderedStack<AABB>(argSize, argContainerSize) {
      protected AABB newInstance() { return new AABB(); }
    };
    rots = new OrderedStack<Rot>(argSize, argContainerSize) {
      protected Rot newInstance() { return new Rot(); }
    };
    mat33s = new OrderedStack<Mat33>(argSize, argContainerSize) {
      protected Mat33 newInstance() { return new Mat33(); }
    };
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    // Vec2 cD = data.positions[m_indexD].c;
    float aD = data.positions[m_indexD].a;
    Vec2 vD = data.velocities[m_indexD].v;
    float wD = data.velocities[m_indexD].w;

    Rot qA = pool.popRot(), qB = pool.popRot(), qC = pool.popRot(), qD = pool.popRot();
    qA.set(aA);
    qB.set(aB);
    qC.set(aC);
    qD.set(aD);

    m_mass = 0.0f;
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  public float separation;

  public void initialize(ContactPositionConstraint pc, Transform xfA, Transform xfB, int index) {
    assert (pc.pointCount > 0);

    final Rot xfAq = xfA.q;
    final Rot xfBq = xfB.q;
    final Vec2 pcLocalPointsI = pc.localPoints[index];
    switch (pc.type) {
      case CIRCLES: {
        // Transform.mulToOutUnsafe(xfA, pc.localPoint, pointA);
        // Transform.mulToOutUnsafe(xfB, pc.localPoints[0], pointB);
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    Vec2 cC = data.positions[m_indexC].c;
    float aC = data.positions[m_indexC].a;
    Vec2 cD = data.positions[m_indexD].c;
    float aD = data.positions[m_indexD].a;

    Rot qA = pool.popRot(), qB = pool.popRot(), qC = pool.popRot(), qD = pool.popRot();
    qA.set(aA);
    qB.set(aB);
    qC.set(aC);
    qD.set(aD);

    float linearError = 0.0f;
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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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