Package net.phys2d.math

Examples of net.phys2d.math.Vector2f.scale()

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      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
          impulse)));
    }
    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(-body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(-(body2.getInvI() * MathUtil.cross(r2,
          impulse)));
    }
  }
 
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    // Apply accumulated impulse.
    accumulatedImpulse.scale(relaxation);
   
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(accumulatedImpulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1, accumulatedImpulse)));
    }

    if (!body2.isStatic()) {
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      body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1, accumulatedImpulse)));
    }

    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(accumulatedImpulse);
      accum2.scale(body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2, accumulatedImpulse));
    }
  }
 
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  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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    Vector2f impulse = MathUtil.mul(M, dv);

    if (!body1.isStatic()) {
      Vector2f delta1 = new Vector2f(impulse);
      delta1.scale(-body1.getInvMass());
      body1.adjustVelocity(delta1);
      body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));
    }

    if (!body2.isStatic()) {
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      body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));
    }

    if (!body2.isStatic()) {
      Vector2f delta2 = new Vector2f(impulse);
      delta2.scale(body2.getInvMass());
      body2.adjustVelocity(delta2);
      body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2,impulse));
    }
   
    accumulatedImpulse.add(impulse);
 
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    float ju = -dv.dot(dp) + bias;
    float p = ju / sc;

    Vector2f impulse = new Vector2f(dp);
    impulse.scale(p);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
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    Vector2f impulse = new Vector2f(dp);
    impulse.scale(p);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1,
          impulse)));
    }

 
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          impulse)));
    }

    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(body2.getInvI()
          * MathUtil.cross(r2, impulse));
    }

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    dp.normalise();

    sc = MathUtil.mul(K, dp).dot(dp);

    Vector2f impulse = new Vector2f(dp);
    impulse.scale(accumulatedImpulse);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
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