Package eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math

Examples of eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math.Vector2f.sub()

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    Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(r1);
    Vector2f p2 = new Vector2f(body2.getPosition());
    p2.add(r2);
    Vector2f dp = new Vector2f(p2);
    dp.sub(p1);
    float length = dp.length();
    // dp.scale(1.0f/length);
    Vector2f V = new Vector2f((float) Math.cos(originalAngle
        + body1.getRotation()), (float) Math.sin(originalAngle
        + body1.getRotation()));
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      if ( dis2 < r2 ) {
        Vector2f pt = new Vector2f();
       
        line.getClosestPoint(bodyB.getPosition(), pt);
        Vector2f normal = new Vector2f(bodyB.getPosition());
        normal.sub(pt);
        float sep = circle.getRadius() - normal.length();
        normal.normalise();
       
        contacts[noContacts].setSeparation(-sep);
        contacts[noContacts].setPosition(pt);
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   * @param circlePos The position (center) of the circle
   * @return The list of edges that can collide with the circle
   */
  protected int[][] getCollisionCandidates(Vector2f[] vertsA, ROVector2f centroid, float radius, ROVector2f circlePos) {
    Vector2f sweepDir = new Vector2f(centroid);
    sweepDir.sub(circlePos);
    sweepDir.normalise(); //TODO: this normalization might not be necessary
   
    EdgeSweep sweep = new EdgeSweep(sweepDir);//vertsA[0], true, true, dist);
   
    sweep.addVerticesToSweep(true, vertsA);
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   * @return the closest point on the line or null if the lines are parallel
   */
  public static Vector2f getClosestPoint(Vector2f startA, Vector2f endA, Vector2f point) {
    Vector2f startB = point;
    Vector2f endB = new Vector2f(endA);
    endB.sub(startA);
    endB.set(endB.y, -endB.x);

    float d = endB.y * (endA.x - startA.x);
    d -= endB.x * (endA.y - startA.y);
   
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    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Matrix2f rot1T = rot1.transpose();
    Matrix2f rot2T = rot2.transpose();

    Vector2f a1 = new Vector2f(anchor);
    a1.sub(body1.getPosition());
    localAnchor1 = MathUtil.mul(rot1T,a1);
    Vector2f a2 = new Vector2f(anchor);
    a2.sub(body2.getPosition());
    localAnchor2 = MathUtil.mul(rot2T,a2);
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    Vector2f a1 = new Vector2f(anchor);
    a1.sub(body1.getPosition());
    localAnchor1 = MathUtil.mul(rot1T,a1);
    Vector2f a2 = new Vector2f(anchor);
    a2.sub(body2.getPosition());
    localAnchor2 = MathUtil.mul(rot2T,a2);

    accumulatedImpulse.set(0.0f, 0.0f);
    relaxation = 1.0f;
  }
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    Vector2f p1 = new Vector2f(body1.getPosition());
    p1.add(r1);
    Vector2f p2 = new Vector2f(body2.getPosition());
    p2.add(r2);
    Vector2f dp = new Vector2f(p2);
    dp.sub(p1);
   
    bias = new Vector2f(dp);
    bias.scale(-0.1f);
    bias.scale(invDT);
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   */
  @Override
    public void applyImpulse() {
    Vector2f dv = new Vector2f(body2.getVelocity());
    dv.add(MathUtil.cross(body2.getAngularVelocity(),r2));
    dv.sub(body1.getVelocity());
    dv.sub(MathUtil.cross(body1.getAngularVelocity(),r1));
      dv.scale(-1);
      dv.add(bias); // TODO: is this baumgarte stabilization?
     
      if (dv.lengthSquared() == 0) {
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  @Override
    public void applyImpulse() {
    Vector2f dv = new Vector2f(body2.getVelocity());
    dv.add(MathUtil.cross(body2.getAngularVelocity(),r2));
    dv.sub(body1.getVelocity());
    dv.sub(MathUtil.cross(body1.getAngularVelocity(),r1));
      dv.scale(-1);
      dv.add(bias); // TODO: is this baumgarte stabilization?
     
      if (dv.lengthSquared() == 0) {
        return;
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   */
  @Override
    public void applyImpulse() {
    Vector2f dv = new Vector2f(body2.getVelocity());
    dv.add(MathUtil.cross(body2.getAngularVelocity(), r2));
    dv.sub(body1.getVelocity());
    dv.sub(MathUtil.cross(body1.getAngularVelocity(), r1));

    float ju = -dv.dot(dp) + bias;
    float p = ju / sc;

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