Examples of jinngine.math.Vector3.multiply()

jinngine.math.Vector3.multiply()
Multiply this vector by a provided scalar creating a resultant vector which is returned. this vector is not modified. @param s multiplication coeficient @return resultant vector

      // if motor is working to leave the limit, we need an extra 
      // velocity constraint to model the motors contribution at the limit
      if ( joint.motorTargetVelocity>0 && joint.motor>0) {
        joint.extra.assign( 
            bi,  bj, 
            new Vector3(), bi.isFixed()? new Vector3():bi.state.inverseinertia.multiply(axis), new Vector3(), bj.isFixed()? new Vector3() : bj.state.inverseinertia.multiply(axis.multiply(-1)), 
                new Vector3(), axis, new Vector3(), axis.multiply(-1), 
                0,
                joint.motor,
                null,
                joint.velocity-joint.motorTargetVelocity, 0 );

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      // velocity constraint to model the motors contribution at the limit
      if ( joint.motorTargetVelocity>0 && joint.motor>0) {
        joint.extra.assign( 
            bi,  bj, 
            new Vector3(), bi.isFixed()? new Vector3():bi.state.inverseinertia.multiply(axis), new Vector3(), bj.isFixed()? new Vector3() : bj.state.inverseinertia.multiply(axis.multiply(-1)), 
                new Vector3(), axis, new Vector3(), axis.multiply(-1), 
                0,
                joint.motor,
                null,
                joint.velocity-joint.motorTargetVelocity, 0 );

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    // unlimited joint axis
    
    
    joint.angular.assign( 
        bi,  bj, 
        new Vector3(), bi.isFixed()? new Vector3():bi.state.inverseinertia.multiply(axis), new Vector3(), bj.isFixed()? new Vector3() : bj.state.inverseinertia.multiply(axis.multiply(-1)), 
        new Vector3(), axis, new Vector3(), axis.multiply(-1), 
        low,
        high,
        null,
        bvalue, 0 );

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    joint.angular.assign( 
        bi,  bj, 
        new Vector3(), bi.isFixed()? new Vector3():bi.state.inverseinertia.multiply(axis), new Vector3(), bj.isFixed()? new Vector3() : bj.state.inverseinertia.multiply(axis.multiply(-1)), 
        new Vector3(), axis, new Vector3(), axis.multiply(-1), 
        low,
        high,
        null,
        bvalue, 0 );

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    //Forces
    Vector3 Fspring = x.sub(n.multiply(equilibrium)).multiply(this.force); //spring force
    Vector3 Fdamper = n.multiply( (-upax+upbx) * this.damper  ); //damping force
    Vector3 Ftotal = Fspring.add( Fdamper );
        
    a.applyForce( pra, Ftotal.multiply(1), dt );
    b.applyForce( prb, Ftotal.multiply(-1), dt);
  }


}

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    Vector3 Fspring = x.sub(n.multiply(equilibrium)).multiply(this.force); //spring force
    Vector3 Fdamper = n.multiply( (-upax+upbx) * this.damper  ); //damping force
    Vector3 Ftotal = Fspring.add( Fdamper );
        
    a.applyForce( pra, Ftotal.multiply(1), dt );
    b.applyForce( prb, Ftotal.multiply(-1), dt);
  }


}

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    nj = b2.toModelNoTranslation(n);
        
    //Use a Gram-Schmidt process to create a orthonormal basis for the impact space
    Vector3 v1 = n.normalize(); Vector3 v2 = Vector3.i(); Vector3 v3 = Vector3.k();
    Vector3 t1 = v1.normalize(); 
    t2i = v2.sub( t1.multiply(t1.dot(v2)) );
    
    System.out.println(t2i);
    
    //in case v1 and v2 are parallel
    if ( t2i.isEpsilon(Vector3.e) ) {

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    System.out.println(t2i);
    
    //in case v1 and v2 are parallel
    if ( t2i.isEpsilon(Vector3.e) ) {
      v2 = Vector3.j(); v3 = Vector3.k();
      t2i.assign(v2.sub( t1.multiply(t1.dot(v2)) ).normalize());
    } else {
      t2i.assign(t2i.normalize());
    }
    
    //tangent 2 in j body space

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    //v1 parallel with v3
    if( v1.cross(v3).isEpsilon(Vector3.e) ) {
      v3 = Vector3.j();
    }
    //finally calculate t3
    t3i = v3.sub( t1.multiply(t1.dot(v3)).sub( t2i.multiply(t2i.dot(v3)) )).normalize();
    
    
    System.out.println(t3i);
    
    // create the controller

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      // if motor is working to leave the limit, we need an extra 
      // velocity constraint to model the motors contribution at the limit
      if ( motorTargetVelocity<0 && motor>0) {
        extra.assign( 
            b1,  b2, 
            new Vector3(), b1.isFixed()? new Vector3():b1.state.inverseinertia.multiply(axis), new Vector3(), b2.isFixed()? new Vector3() : b2.state.inverseinertia.multiply(axis.multiply(-1)), 
            new Vector3(), axis, new Vector3(), axis.multiply(-1), 
            -this.motor,
            0,
            null,
            this.velocity-this.motorTargetVelocity, 0 );

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