Package javax.vecmath

Examples of javax.vecmath.Vector3f.dot()

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        float proj = fwd.dot(wheel.raycastInfo.contactNormalWS);
        tmp.scale(proj, wheel.raycastInfo.contactNormalWS);
        fwd.sub(tmp);

        float proj2 = fwd.dot(vel);

        wheel.deltaRotation = (proj2 * step) / (wheel.wheelsRadius);
        wheel.rotation += wheel.deltaRotation;

      }
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        currentDir.sub(targetPosition, currentPosition);
        distance2 = currentDir.lengthSquared();
        if (distance2 > BulletGlobals.SIMD_EPSILON) {
          currentDir.normalize();
          // see Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners."
          if (currentDir.dot(normalizedDirection) <= 0.0f) {
            break;
          }
        }
        else {
          //printf("currentDir: don't normalize a zero vector\n");
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    // Get Frame into world space
    if (swingSpan1 >= 0.05f) {
      rbAFrame.basis.getColumn(1, b1Axis2);
      getRigidBodyA().getCenterOfMassTransform(tmpTrans).basis.transform(b1Axis2);
//      swing1 = ScalarUtil.atan2Fast(b2Axis1.dot(b1Axis2), b2Axis1.dot(b1Axis1));
      swx = b2Axis1.dot(b1Axis1);
      swy = b2Axis1.dot(b1Axis2);
      swing1 = ScalarUtil.atan2Fast(swy, swx);
      fact = (swy*swy + swx*swx) * thresh * thresh;
      fact = fact / (fact + 1f);
      swing1 *= fact;
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    if (swingSpan1 >= 0.05f) {
      rbAFrame.basis.getColumn(1, b1Axis2);
      getRigidBodyA().getCenterOfMassTransform(tmpTrans).basis.transform(b1Axis2);
//      swing1 = ScalarUtil.atan2Fast(b2Axis1.dot(b1Axis2), b2Axis1.dot(b1Axis1));
      swx = b2Axis1.dot(b1Axis1);
      swy = b2Axis1.dot(b1Axis2);
      swing1 = ScalarUtil.atan2Fast(swy, swx);
      fact = (swy*swy + swx*swx) * thresh * thresh;
      fact = fact / (fact + 1f);
      swing1 *= fact;
    }
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    if (swingSpan2 >= 0.05f) {
      rbAFrame.basis.getColumn(2, b1Axis3);
      getRigidBodyA().getCenterOfMassTransform(tmpTrans).basis.transform(b1Axis3);
//      swing2 = ScalarUtil.atan2Fast(b2Axis1.dot(b1Axis3), b2Axis1.dot(b1Axis1));
      swx = b2Axis1.dot(b1Axis1);
      swy = b2Axis1.dot(b1Axis3);
      swing2 = ScalarUtil.atan2Fast(swy, swx);
      fact = (swy*swy + swx*swx) * thresh * thresh;
      fact = fact / (fact + 1f);
      swing2 *= fact;
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    if (swingSpan2 >= 0.05f) {
      rbAFrame.basis.getColumn(2, b1Axis3);
      getRigidBodyA().getCenterOfMassTransform(tmpTrans).basis.transform(b1Axis3);
//      swing2 = ScalarUtil.atan2Fast(b2Axis1.dot(b1Axis3), b2Axis1.dot(b1Axis1));
      swx = b2Axis1.dot(b1Axis1);
      swy = b2Axis1.dot(b1Axis3);
      swing2 = ScalarUtil.atan2Fast(swy, swx);
      fact = (swy*swy + swx*swx) * thresh * thresh;
      fact = fact / (fact + 1f);
      swing2 *= fact;
    }
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    if (EllipseAngle > 1.0f) {
      swingCorrection = EllipseAngle - 1.0f;
      solveSwingLimit = true;

      // Calculate necessary axis & factors
      tmp1.scale(b2Axis1.dot(b1Axis2), b1Axis2);
      tmp2.scale(b2Axis1.dot(b1Axis3), b1Axis3);
      tmp.add(tmp1, tmp2);
      swingAxis.cross(b2Axis1, tmp);
      swingAxis.normalize();
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      swingCorrection = EllipseAngle - 1.0f;
      solveSwingLimit = true;

      // Calculate necessary axis & factors
      tmp1.scale(b2Axis1.dot(b1Axis2), b1Axis2);
      tmp2.scale(b2Axis1.dot(b1Axis3), b1Axis3);
      tmp.add(tmp1, tmp2);
      swingAxis.cross(b2Axis1, tmp);
      swingAxis.normalize();

      float swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
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      tmp2.scale(b2Axis1.dot(b1Axis3), b1Axis3);
      tmp.add(tmp1, tmp2);
      swingAxis.cross(b2Axis1, tmp);
      swingAxis.normalize();

      float swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f;
      swingAxis.scale(swingAxisSign);

      kSwing = 1f / (getRigidBodyA().computeAngularImpulseDenominator(swingAxis) +
          getRigidBodyB().computeAngularImpulseDenominator(swingAxis));
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      rbBFrame.basis.getColumn(1, b2Axis2);
      getRigidBodyB().getCenterOfMassTransform(tmpTrans).basis.transform(b2Axis2);

      Quat4f rotationArc = QuaternionUtil.shortestArcQuat(b2Axis1, b1Axis1, Stack.alloc(Quat4f.class));
      Vector3f TwistRef = QuaternionUtil.quatRotate(rotationArc, b2Axis2, Stack.alloc(Vector3f.class));
      float twist = ScalarUtil.atan2Fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));

      float lockedFreeFactor = (twistSpan > 0.05f) ? limitSoftness : 0f;
      if (twist <= -twistSpan * lockedFreeFactor) {
        twistCorrection = -(twist + twistSpan);
        solveTwistLimit = true;
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