Package javax.vecmath

Examples of javax.vecmath.Vector3f.cross()

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                    //btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
                    //#else             
                    float denom0 = 0f;
                    float denom1 = 0f;
                    if (rb0 != null) {
                      vec.cross(solverConstraint.angularComponentA, rel_pos1);
                      denom0 = rb0.getInvMass() + cp.normalWorldOnB.dot(vec);
                    }
                    if (rb1 != null) {
                      vec.cross(solverConstraint.angularComponentB, rel_pos2);
                      denom1 = rb1.getInvMass() + cp.normalWorldOnB.dot(vec);
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                    if (rb0 != null) {
                      vec.cross(solverConstraint.angularComponentA, rel_pos1);
                      denom0 = rb0.getInvMass() + cp.normalWorldOnB.dot(vec);
                    }
                    if (rb1 != null) {
                      vec.cross(solverConstraint.angularComponentB, rel_pos2);
                      denom1 = rb1.getInvMass() + cp.normalWorldOnB.dot(vec);
                    }
                    //#endif //COMPUTE_IMPULSE_DENOM   

                    float denom = relaxation / (denom0 + denom1);
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            cpd.frictionAngularComponent0A.set(ftorqueAxis0);
            body0.getInvInertiaTensorWorld(tmpMat3).transform(cpd.frictionAngularComponent0A);
          }
          {
            ftorqueAxis1.cross(rel_pos1, cpd.frictionWorldTangential1);

            cpd.frictionAngularComponent1A.set(ftorqueAxis1);
            body0.getInvInertiaTensorWorld(tmpMat3).transform(cpd.frictionAngularComponent1A);
          }
          {
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            cpd.frictionAngularComponent0B.set(ftorqueAxis0);
            body1.getInvInertiaTensorWorld(tmpMat3).transform(cpd.frictionAngularComponent0B);
          }
          {
            ftorqueAxis1.cross(rel_pos2, cpd.frictionWorldTangential1);

            cpd.frictionAngularComponent1B.set(ftorqueAxis1);
            body1.getInvInertiaTensorWorld(tmpMat3).transform(cpd.frictionAngularComponent1B);
          }
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      if (cpd.appliedImpulse > 0) {
        if (lat_rel_vel > BulletGlobals.FLT_EPSILON) {
          lat_vel.scale(1f / lat_rel_vel);

          Vector3f temp1 = Stack.alloc(Vector3f.class);
          temp1.cross(rel_pos1, lat_vel);
          body1.getInvInertiaTensorWorld(Stack.alloc(Matrix3f.class)).transform(temp1);

          Vector3f temp2 = Stack.alloc(Vector3f.class);
          temp2.cross(rel_pos2, lat_vel);
          body2.getInvInertiaTensorWorld(Stack.alloc(Matrix3f.class)).transform(temp2);
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          Vector3f temp1 = Stack.alloc(Vector3f.class);
          temp1.cross(rel_pos1, lat_vel);
          body1.getInvInertiaTensorWorld(Stack.alloc(Matrix3f.class)).transform(temp1);

          Vector3f temp2 = Stack.alloc(Vector3f.class);
          temp2.cross(rel_pos2, lat_vel);
          body2.getInvInertiaTensorWorld(Stack.alloc(Matrix3f.class)).transform(temp2);

          Vector3f java_tmp1 = Stack.alloc(Vector3f.class);
          java_tmp1.cross(temp1, rel_pos1);
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          Vector3f temp2 = Stack.alloc(Vector3f.class);
          temp2.cross(rel_pos2, lat_vel);
          body2.getInvInertiaTensorWorld(Stack.alloc(Matrix3f.class)).transform(temp2);

          Vector3f java_tmp1 = Stack.alloc(Vector3f.class);
          java_tmp1.cross(temp1, rel_pos1);

          Vector3f java_tmp2 = Stack.alloc(Vector3f.class);
          java_tmp2.cross(temp2, rel_pos2);

          tmp.add(java_tmp1, java_tmp2);
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          Vector3f java_tmp1 = Stack.alloc(Vector3f.class);
          java_tmp1.cross(temp1, rel_pos1);

          Vector3f java_tmp2 = Stack.alloc(Vector3f.class);
          java_tmp2.cross(temp2, rel_pos2);

          tmp.add(java_tmp1, java_tmp2);

          float friction_impulse = lat_rel_vel /
              (body1.getInvMass() + body2.getInvMass() + lat_vel.dot(tmp));
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    updateWheelTransformsWS(wheel, interpolatedTransform);
    Vector3f up = Stack.alloc(Vector3f.class);
    up.negate(wheel.raycastInfo.wheelDirectionWS);
    Vector3f right = wheel.raycastInfo.wheelAxleWS;
    Vector3f fwd = Stack.alloc(Vector3f.class);
    fwd.cross(up, right);
    fwd.normalize();
    // up = right.cross(fwd);
    // up.normalize();

    // rotate around steering over de wheelAxleWS
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  public final Vector3f pushVelocity = new Vector3f();
  public final Vector3f turnVelocity = new Vector3f();
 
  public void getVelocityInLocalPoint(Vector3f rel_pos, Vector3f velocity) {
    Vector3f tmp = Stack.alloc(Vector3f.class);
    tmp.cross(angularVelocity, rel_pos);
    velocity.add(linearVelocity, tmp);
  }

  /**
   * Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position.
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