Package net.phys2d.math

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

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  public void setLineEndContact(Contact contact, Intersection intersection, Vector2f[] vertsA, Vector2f[] vertsB) {
    Vector2f separation = new Vector2f(intersection.position);
    if ( intersection.isIngoing )
      separation.sub(vertsA[1]);
    else
      separation.sub(vertsA[0]);
   
    float depthA = 0;//separation.length();
   
    contact.setSeparation(-depthA);
    contact.setNormal(MathUtil.getNormal(vertsB[(intersection.edgeB + 1) % vertsB.length], vertsB[intersection.edgeB]));
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    Vector2f[] vertsB = box.getPoints(bodyB.getPosition(), bodyB.getRotation());
   
    // TODO: use a sweepline that has the smallest projection of the box
    // now we use just an arbitrary one
    Vector2f sweepline = new Vector2f(vertsB[1]);
    sweepline.sub(vertsB[2]);
   
    EdgeSweep sweep = new EdgeSweep(sweepline);
   
    sweep.addVerticesToSweep(true, vertsA);
    sweep.addVerticesToSweep(false, vertsB);
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   * @param vertsB The vertices of polygon B
   * @return the maximum penetration depth along the given normal
   */
  public static float getPenetrationDepth(Intersection in, Intersection out, Vector2f normal, Vector2f[] vertsA, Vector2f[] vertsB) {
    Vector2f sweepdir = new Vector2f(out.position);
    sweepdir.sub(in.position);
   
    PenetrationSweep ps = new PenetrationSweep(normal, sweepdir, in.position, out.position);

    //TODO: most penetrations are very simple, similar to:
    // \               +       |       
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    // the line A's normal passing through the origin of B
    Vector2f startA = vertsA[0];
    Vector2f endA = vertsA[1];
    ROVector2f startB = bodyB.getPosition();
    Vector2f endB = new Vector2f(endA);
    endB.sub(startA);
    endB.set(endB.y, -endB.x);
//    endB.add(startB);// TODO: inline endB into equations below, this last operation will be useless..
   
    //TODO: reuse mathutil.intersect
//    float d = (endB.y - startB.getY()) * (endA.x - startA.x);
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          startA.y + uA * (endA.y - startA.y));
    }
   
    Vector2f normal = endB; // reuse of vector object
    normal.set(startB);
    normal.sub(position);
    float distSquared = normal.lengthSquared();
    float radiusSquared = circle.getRadius() * circle.getRadius();
   
    if ( distSquared < radiusSquared ) {
      contacts[0].setPosition(position);
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      if ( dis2 < r2 ) {
        Vector2f pt = new Vector2f();
       
        line.getClosestPoint(bodyB.getPosition(), pt);
        Vector2f normal = new Vector2f(bodyB.getPosition());
        normal.sub(pt);
        float sep = circle.getRadius() - normal.length();
        normal.normalise();
       
        contacts[noContacts].setSeparation(-sep);
        contacts[noContacts].setPosition(pt);
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   * @param circlePos The position (center) of the circle
   * @return The list of edges that can collide with the circle
   */
  protected int[][] getCollisionCandidates(Vector2f[] vertsA, ROVector2f centroid, float radius, ROVector2f circlePos) {
    Vector2f sweepDir = new Vector2f(centroid);
    sweepDir.sub(circlePos);
    sweepDir.normalise(); //TODO: this normalization might not be necessary
   
    EdgeSweep sweep = new EdgeSweep(sweepDir);//vertsA[0], true, true, dist);
   
    sweep.addVerticesToSweep(true, vertsA);
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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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