pool.pushVec2(1);
}
@Override
public boolean solvePositionConstraints (final SolverData data) {
final Rot qA = pool.popRot();
final Rot qB = pool.popRot();
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 angularError = 0.0f;
float positionError = 0.0f;
boolean fixedRotation = (m_invIA + m_invIB == 0.0f);
// Solve angular limit constraint.
if (m_enableLimit && m_limitState != LimitState.INACTIVE && fixedRotation == false) {
float angle = aB - aA - m_referenceAngle;
float limitImpulse = 0.0f;
if (m_limitState == LimitState.EQUAL) {
// Prevent large angular corrections
float C = MathUtils.clamp(angle - m_lowerAngle, -Settings.maxAngularCorrection, Settings.maxAngularCorrection);
limitImpulse = -m_motorMass * C;
angularError = MathUtils.abs(C);
} else if (m_limitState == LimitState.AT_LOWER) {
float C = angle - m_lowerAngle;
angularError = -C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.clamp(C + Settings.angularSlop, -Settings.maxAngularCorrection, 0.0f);
limitImpulse = -m_motorMass * C;
} else if (m_limitState == LimitState.AT_UPPER) {
float C = angle - m_upperAngle;
angularError = C;
// Prevent large angular corrections and allow some slop.
C = MathUtils.clamp(C - Settings.angularSlop, 0.0f, Settings.maxAngularCorrection);
limitImpulse = -m_motorMass * C;
}
aA -= m_invIA * limitImpulse;
aB += m_invIB * limitImpulse;
}
// Solve point-to-point constraint.
{
qA.set(aA);
qB.set(aB);
final Vec2 rA = pool.popVec2();
final Vec2 rB = pool.popVec2();
final Vec2 C = pool.popVec2();
final Vec2 impulse = pool.popVec2();