Package org.jbox2d.common

Examples of org.jbox2d.common.Rot

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  @Override
  public void computeAABB(AABB aabb, Transform xf, int childIndex) {
    final Vec2 lowerBound = aabb.lowerBound;
    final Vec2 upperBound = aabb.upperBound;
    final Rot xfq = xf.q;

    final float v1x = (xfq.c * m_vertex1.x - xfq.s * m_vertex1.y) + xf.p.x;
    final float v1y = (xfq.s * m_vertex1.x + xfq.c * m_vertex1.y) + xf.p.y;
    final float v2x = (xfq.c * m_vertex2.x - xfq.s * m_vertex2.y) + xf.p.x;
    final float v2y = (xfq.s * m_vertex2.x + xfq.c * m_vertex2.y) + xf.p.y;
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      i2 = 0;
    }

    final Vec2 vi1 = m_vertices[i1];
    final Vec2 vi2 = m_vertices[i2];
    final Rot xfq = xf.q;
    final Vec2 xfp = xf.p;
    float v1x = (xfq.c * vi1.x - xfq.s * vi1.y) + xfp.x;
    float v1y = (xfq.s * vi1.x + xfq.c * vi1.y) + xfp.y;
    float v2x = (xfq.c * vi2.x - xfq.s * vi2.y) + xfp.x;
    float v2y = (xfq.s * vi2.x + xfq.c * vi2.y) + xfp.y;
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    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;


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

    qA.set(aA);
    qB.set(aB);

    // Compute the effective mass matrix.
    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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    for (ParticleGroup group = m_groupList; group != null; group = group.getNext()) {
      if ((group.m_groupFlags & ParticleGroupType.b2_rigidParticleGroup) != 0) {
        group.updateStatistics();
        Vec2 temp = tempVec;
        Vec2 cross = tempVec2;
        Rot rotation = tempRot;
        rotation.set(step.dt * group.m_angularVelocity);
        Rot.mulToOutUnsafe(rotation, group.m_center, cross);
        temp.set(group.m_linearVelocity).mulLocal(step.dt).addLocal(group.m_center).subLocal(cross);
        tempXf.p.set(temp);
        tempXf.q.set(rotation);
        Transform.mulToOut(tempXf, group.m_transform, group.m_transform);
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    // Rot.mulToOutUnsafe(m_xf.q, m_sweep.localCenter, m_xf.p);
    // m_xf.p.mulLocal(-1).addLocal(m_sweep.c);
    //
    m_xf.q.s = MathUtils.sin(m_sweep.a);
    m_xf.q.c = MathUtils.cos(m_sweep.a);
    Rot q = m_xf.q;
    Vec2 v = m_sweep.localCenter;
    m_xf.p.x = m_sweep.c.x - q.c * v.x + q.s * v.y;
    m_xf.p.y = m_sweep.c.y - q.s * v.x - q.c * v.y;
  }
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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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    for (ParticleGroup group = m_groupList; group != null; group = group.getNext()) {
      if ((group.m_groupFlags & ParticleGroupType.b2_rigidParticleGroup) != 0) {
        group.updateStatistics();
        Vec2 temp = tempVec;
        Vec2 cross = tempVec2;
        Rot rotation = tempRot;
        rotation.set(step.dt * group.m_angularVelocity);
        Rot.mulToOutUnsafe(rotation, group.m_center, cross);
        temp.set(group.m_linearVelocity).mulLocal(step.dt).addLocal(group.m_center).subLocal(cross);
        tempXf.p.set(temp);
        tempXf.q.set(rotation);
        Transform.mulToOut(tempXf, group.m_transform, group.m_transform);
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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 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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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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