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

eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math.Vector2f.sub()
Subtract a vector from this vector @param v The vector subtract

    {
      Contact c = contacts[i];
      c.normal.normalise();
      
      Vector2f r1 = new Vector2f(c.position);
      r1.sub(body1.getPosition());
      Vector2f r2 = new Vector2f(c.position);
      r2.sub(body2.getPosition());


      // Precompute normal mass, tangent mass, and bias.
      float rn1 = r1.dot(c.normal);

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      c.normal.normalise();
      
      Vector2f r1 = new Vector2f(c.position);
      r1.sub(body1.getPosition());
      Vector2f r2 = new Vector2f(c.position);
      r2.sub(body2.getPosition());


      // Precompute normal mass, tangent mass, and bias.
      float rn1 = r1.dot(c.normal);
      float rn2 = r2.dot(c.normal);
      float kNormal = body1.getInvMass() + body2.getInvMass();

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      // Compute restitution
      // Relative velocity at contact 
      Vector2f relativeVelocity =  new Vector2f(body2.getVelocity());
      relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
      relativeVelocity.sub(body1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));
      
      float combinedRestitution = (body1.getRestitution() * body2.getRestitution());
      float relVel = c.normal.dot(relativeVelocity);
      c.restitution = combinedRestitution * -relVel;

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      // Compute restitution
      // Relative velocity at contact 
      Vector2f relativeVelocity =  new Vector2f(body2.getVelocity());
      relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
      relativeVelocity.sub(body1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));
      
      float combinedRestitution = (body1.getRestitution() * body2.getRestitution());
      float relVel = c.normal.dot(relativeVelocity);
      c.restitution = combinedRestitution * -relVel;
      c.restitution = Math.max(c.restitution, 0);

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    for (int i = 0; i < numContacts; ++i)
    {
      Contact c = contacts[i];
      
      Vector2f r1 = new Vector2f(c.position);
      r1.sub(b1.getPosition());
      Vector2f r2 = new Vector2f(c.position);
      r2.sub(b2.getPosition());


      // Relative velocity at contact
      Vector2f relativeVelocity =  new Vector2f(b2.getVelocity());

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      Contact c = contacts[i];
      
      Vector2f r1 = new Vector2f(c.position);
      r1.sub(b1.getPosition());
      Vector2f r2 = new Vector2f(c.position);
      r2.sub(b2.getPosition());


      // Relative velocity at contact
      Vector2f relativeVelocity =  new Vector2f(b2.getVelocity());
      relativeVelocity.add(MathUtil.cross(b2.getAngularVelocity(), r2));
      relativeVelocity.sub(b1.getVelocity());

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      r2.sub(b2.getPosition());


      // Relative velocity at contact
      Vector2f relativeVelocity =  new Vector2f(b2.getVelocity());
      relativeVelocity.add(MathUtil.cross(b2.getAngularVelocity(), r2));
      relativeVelocity.sub(b1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(b1.getAngularVelocity(), r1));
      
      // Compute normal impulse with bias.
      float vn = relativeVelocity.dot(c.normal);

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      // Relative velocity at contact
      Vector2f relativeVelocity =  new Vector2f(b2.getVelocity());
      relativeVelocity.add(MathUtil.cross(b2.getAngularVelocity(), r2));
      relativeVelocity.sub(b1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(b1.getAngularVelocity(), r1));
      
      // Compute normal impulse with bias.
      float vn = relativeVelocity.dot(c.normal);
      
      // bias caculations are now handled seperately hence we only

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      vertsA[1] = tmp;
    }
    
    // we use the line's normal for our sweepline projection
    Vector2f normal = new Vector2f(vertsA[1]);
    normal.sub(vertsA[0]);
    normal.set(normal.y, -normal.x);
    EdgeSweep sweep = new EdgeSweep(normal);
    sweep.insert(0, true, vertsA[0].dot(normal));
    sweep.insert(0, true, vertsA[1].dot(normal));
    sweep.addVerticesToSweep(false, vertsB);

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   * @param vertsB The polygon's vertices
   */
  public void setLineEndContact(Contact contact, Intersection intersection, Vector2f[] vertsA, Vector2f[] vertsB) {
    Vector2f separation = new Vector2f(intersection.position);
    if ( intersection.isIngoing )
      separation.sub(vertsA[1]);
    else
      separation.sub(vertsA[0]);
    
    float depthA = 0;//separation.length();

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