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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   * overlaps with vertsB[r[x][1]] and vertsB[r[x][1] + 1].
   */
    public int[][] getCollisionCandidates(Vector2f[] vertsA, Vector2f[] vertsB,
            Vector2f sweepDirStart, Vector2f sweepDirEnd) {
        Vector2f sweepDir = new Vector2f(sweepDirEnd);
        sweepDir.sub(sweepDirStart);

        return getCollisionCandidates(new EdgeSweep(sweepDir), vertsA, vertsB);
    }
}
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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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    Matrix2f absC = MathUtil.abs(C);
    Matrix2f absCT = absC.transpose();

    // Box A faces
    Vector2f faceA = MathUtil.abs(dA);
    faceA.sub(hA);
    faceA.sub(MathUtil.mul(absC,hB));
   
    if (faceA.x > 0.0f || faceA.y > 0.0f) {
      return 0;
    }
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    Matrix2f absCT = absC.transpose();

    // Box A faces
    Vector2f faceA = MathUtil.abs(dA);
    faceA.sub(hA);
    faceA.sub(MathUtil.mul(absC,hB));
   
    if (faceA.x > 0.0f || faceA.y > 0.0f) {
      return 0;
    }
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      return 0;
    }

    // Box B faces
    Vector2f faceB = MathUtil.abs(dB);
    faceB.sub(MathUtil.mul(absCT,hA));
    faceB.sub(hB);
    //MathUtil.sub(MathUtil.sub(MathUtil.abs(dB),MathUtil.mul(absCT,hA)),hB);
    if (faceB.x > 0.0f || faceB.y > 0.0f) {
      return 0;
    }
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    }

    // Box B faces
    Vector2f faceB = MathUtil.abs(dB);
    faceB.sub(MathUtil.mul(absCT,hA));
    faceB.sub(hB);
    //MathUtil.sub(MathUtil.sub(MathUtil.abs(dB),MathUtil.mul(absCT,hA)),hB);
    if (faceB.x > 0.0f || faceB.y > 0.0f) {
      return 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));

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

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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;

    Vector2f impulse = new Vector2f(dp);
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