Package org.jbox2d.common

Examples of org.jbox2d.common.Rot

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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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  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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  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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  @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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    // 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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    // 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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    // final float normal1x = normal1.x;
    // final float normal1y = normal1.y;
    // final float normal1Worldx = normal1World.x;
    // final float normal1Worldy = normal1World.y;
    // after inline:
    final Rot xf1q = xf1.q;
    final Rot xf2q = xf2.q;
    Rot q = xf1q;
    Vec2 v = normals1[edge1];
    final float normal1Worldx = q.c * v.x - q.s * v.y;
    final float normal1Worldy = q.s * v.x + q.c * v.y;
    Rot q1 = xf2q;
    final float normal1x = q1.c * normal1Worldx + q1.s * normal1Worldy;
    final float normal1y = -q1.s * normal1Worldx + q1.c * normal1Worldy;
    // end inline

    // Find support vertex on poly2 for -normal.
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    int count1 = poly1.m_count;
    final Vec2[] normals1 = poly1.m_normals;

    final Vec2 poly1centroid = poly1.m_centroid;
    final Vec2 poly2centroid = poly2.m_centroid;
    final Rot xf2q = xf2.q;
    final Rot xf1q = xf1.q;
    // Vector pointing from the centroid of poly1 to the centroid of poly2.
    // before inline:
    // Transform.mulToOutUnsafe(xf2, poly2centroid, d);
    // Transform.mulToOutUnsafe(xf1, poly1centroid, temp);
    // d.subLocal(temp);
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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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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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