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

  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();
    
    contact.setSeparation(-depthA);
    contact.setNormal(MathUtil.getNormal(vertsB[(intersection.edgeB + 1) % vertsB.length], vertsB[intersection.edgeB]));

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    Vector2f r1 = MathUtil.mul(rot1, anchor1);
    Vector2f r2 = MathUtil.mul(rot2, anchor2);


    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));


    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);

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    Vector2f r2 = MathUtil.mul(rot2, anchor2);


    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));


    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
     * relativeVelocity.add(MathUtil.mul(tr1, dp));

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    R = new Vector2f(r1);
    R.add(dp);
    // System.out.println(accumulateImpulse);
    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));


    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);

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    R.add(dp);
    // System.out.println(accumulateImpulse);
    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));


    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
     * relativeVelocity.add(MathUtil.mul(tr1, dp));

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    stretchedSpringConst = 100;
    compressedSpringConst = 100;
    brokenSpringConst = 100;
    
    Vector2f spring = new Vector2f(anchor1);
    spring.sub(anchor2);
    springSize = spring.length();
    minSpringSize = 0;
    maxSpringSize = 2 * springSize;
    
    set(b1,b2,anchor1,anchor2);

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    body2 = b2;  


    Matrix2f rot1 = new Matrix2f(body1.getRotation());
    Matrix2f rot1T = rot1.transpose();
    Vector2f a1 = new Vector2f(anchor1);
    a1.sub(body1.getPosition());
    localAnchor1 = MathUtil.mul(rot1T,a1);
    
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Matrix2f rot2T = rot2.transpose();
    Vector2f a2 = new Vector2f(anchor2);

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    localAnchor1 = MathUtil.mul(rot1T,a1);
    
    Matrix2f rot2 = new Matrix2f(body2.getRotation());
    Matrix2f rot2T = rot2.transpose();
    Vector2f a2 = new Vector2f(anchor2);
    a2.sub(body2.getPosition());
    localAnchor2 = MathUtil.mul(rot2T,a2);
  }


  /**
   * Precaculate everything and apply initial impulse before the

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    if ( isBroken ) {
      // calculate difference in velocity
      // TODO: share this code with BasicJoint and Arbiter
      Vector2f relativeVelocity =  new Vector2f(body2.getVelocity());
      relativeVelocity.add(MathUtil.cross(body2.getAngularVelocity(), r2));
      relativeVelocity.sub(body1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(body1.getAngularVelocity(), r1));
      
      // project the relative velocity onto the spring vector and apply the mass normal
      float normalImpulse = massNormal * relativeVelocity.dot(spring);

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      // calculate difference in velocity
      // TODO: share this code with BasicJoint and Arbiter
      Vector2f relativeVelocity =  new Vector2f(body2.getVelocity());
      relativeVelocity.add(MathUtil.cross(body2.getAngularVelocity(), r2));
      relativeVelocity.sub(body1.getVelocity());
      relativeVelocity.sub(MathUtil.cross(body1.getAngularVelocity(), r1));
      
      // project the relative velocity onto the spring vector and apply the mass normal
      float normalImpulse = massNormal * relativeVelocity.dot(spring);
      
//      // TODO: Clamp the accumulated impulse?

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