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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    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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    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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   * @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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    Vector2f position = new Vector2f(
        startA.x + uA * (endA.x - startA.x),
        startA.y + uA * (endA.y - startA.y));
   
    Vector2f dist = new Vector2f(position);
    dist.sub(startA);
    float distFromVertA = dist.lengthSquared();
    dist = new Vector2f(position);
    dist.sub(startB);
    float distFromVertB = dist.lengthSquared();
   
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    Vector2f dist = new Vector2f(position);
    dist.sub(startA);
    float distFromVertA = dist.lengthSquared();
    dist = new Vector2f(position);
    dist.sub(startB);
    float distFromVertB = dist.lengthSquared();
   
    // z axis of 3d cross product
    float sA = (startA.x - startB.x) * (endB.y - startB.y) - (endB.x - startB.x) * (startA.y - startB.y);
   
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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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