Package org.jbox2d.common

Examples of org.jbox2d.common.Rot

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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 qB = pool.popRot();

    qB.set(aB);

    float mass = m_bodyB.getMass();

    // Frequency
    float omega = 2.0f * MathUtils.PI * m_frequencyHz;
 
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    // Rot.mulToOutUnsafe(transform.q, m_p, center);
    // center.addLocal(transform.p);
    //
    // final Vec2 d = center.subLocal(p).negateLocal();
    // return Vec2.dot(d, d) <= m_radius * m_radius;
    final Rot q = transform.q;
    final Vec2 tp = transform.p;
    float centerx = -(q.c * m_p.x - q.s * m_p.y + tp.x - p.x);
    float centery = -(q.s * m_p.x + q.c * m_p.y + tp.y - p.y);

    return centerx * centerx + centery * centery <= m_radius * m_radius;
 
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    return centerx * centerx + centery * centery <= m_radius * m_radius;
  }

  @Override
  public float computeDistanceToOut(Transform xf, Vec2 p, int childIndex, Vec2 normalOut) {
    final Rot xfq = xf.q;
    float centerx = xfq.c * m_p.x - xfq.s * m_p.y + xf.p.x;
    float centery = xfq.s * m_p.x + xfq.c * m_p.y + xf.p.y;
    float dx = p.x - centerx;
    float dy = p.y - centery;
    float d1 = MathUtils.sqrt(dx * dx + dy * dy);
 
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  public final boolean raycast(RayCastOutput output, RayCastInput input, Transform transform,
      int childIndex) {

    final Vec2 inputp1 = input.p1;
    final Vec2 inputp2 = input.p2;
    final Rot tq = transform.q;
    final Vec2 tp = transform.p;

    // Rot.mulToOutUnsafe(transform.q, m_p, position);
    // position.addLocal(transform.p);
    final float positionx = tq.c * m_p.x - tq.s * m_p.y + tp.x;
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    return false;
  }

  @Override
  public final void computeAABB(final AABB aabb, final Transform transform, int childIndex) {
    final Rot tq = transform.q;
    final Vec2 tp = transform.p;
    final float px = tq.c * m_p.x - tq.s * m_p.y + tp.x;
    final float py = tq.s * m_p.x + tq.c * m_p.y + tp.y;

    aabb.lowerBound.x = px - m_radius;
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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), rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    d.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
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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 temp = pool.popVec2();

    qA.set(aA);
    qB.set(aB);

    Rot.mulToOut(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOut(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    d.set(cB).subLocal(cA).addLocal(rB).subLocal(rA);
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  }

  @Override
  public final boolean testPoint(final Transform xf, final Vec2 p) {
    float tempx, tempy;
    final Rot xfq = xf.q;

    tempx = p.x - xf.p.x;
    tempy = p.y - xf.p.y;
    final float pLocalx = xfq.c * tempx + xfq.s * tempy;
    final float pLocaly = -xfq.s * tempx + xfq.c * tempy;
 
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    final Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    final 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();
    Mat22 K = pool.popMat22();

    qA.set(aA);
    qB.set(aB);

    // Compute the effective mass matrix.
    // m_rA = b2Mul(qA, -m_localCenterA);
    // m_rB = b2Mul(qB, -m_localCenterB);
    m_rA.x = qA.c * -m_localCenterA.x - qA.s * -m_localCenterA.y;
 
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  public boolean raycast(RayCastOutput output, RayCastInput input, Transform xf, int childIndex) {

    float tempx, tempy;
    final Vec2 v1 = m_vertex1;
    final Vec2 v2 = m_vertex2;
    final Rot xfq = xf.q;
    final Vec2 xfp = xf.p;

    // Put the ray into the edge's frame of reference.
    // b2Vec2 p1 = b2MulT(xf.q, input.p1 - xf.p);
    // b2Vec2 p2 = b2MulT(xf.q, input.p2 - xf.p);
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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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