Package net.phys2d.math

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

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   * Apply the impulse caused by the joint to the bodies attached.
   */
  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);
     
      if (dv.lengthSquared() == 0) {
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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);
     
      if (dv.lengthSquared() == 0) {
        return;
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    Vector2f r1 = MathUtil.mul(rot1, anchor1);
    Vector2f r2 = MathUtil.mul(rot2, anchor2);

    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
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    Vector2f r2 = MathUtil.mul(rot2, anchor2);

    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
     * relativeVelocity.add(MathUtil.mul(tr1, dp));
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    R = new Vector2f(r1);
    R.add(dp);
    // System.out.println(accumulateImpulse);
    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
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    R.add(dp);
    // System.out.println(accumulateImpulse);
    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
     * relativeVelocity.add(MathUtil.mul(tr1, dp));
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    Vector2f r1 = MathUtil.mul(rot1, anchor1);
    Vector2f r2 = MathUtil.mul(rot2, anchor2);

    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
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    Vector2f r2 = MathUtil.mul(rot2, anchor2);

    Vector2f relativeVelocity = new Vector2f(body2.getVelocity());
    relativeVelocity.add(MathUtil.cross(r2, body2.getAngularVelocity()));
    relativeVelocity.sub(body1.getVelocity());
    relativeVelocity.sub(MathUtil.cross(r1, body1.getAngularVelocity()));

    /*
     * Matrix2f tr1 = new Matrix2f(-body1.getRotation()); relativeVelocity =
     * MathUtil.mul(tr1, relativeVelocity);
     * relativeVelocity.add(MathUtil.mul(tr1, dp));
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    for (int i = 0; i < this.numContacts; i++)
    {
      Contact localContact = this.contacts[i];
      localContact.normal.normalise();
      Vector2f localVector2f1 = new Vector2f(localContact.position);
      localVector2f1.sub(this.body1.getPosition());
      Vector2f localVector2f2 = new Vector2f(localContact.position);
      localVector2f2.sub(this.body2.getPosition());
      float f3 = localVector2f1.dot(localContact.normal);
      float f4 = localVector2f2.dot(localContact.normal);
      float f5 = this.body1.getInvMass() + this.body2.getInvMass();
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      Contact localContact = this.contacts[i];
      localContact.normal.normalise();
      Vector2f localVector2f1 = new Vector2f(localContact.position);
      localVector2f1.sub(this.body1.getPosition());
      Vector2f localVector2f2 = new Vector2f(localContact.position);
      localVector2f2.sub(this.body2.getPosition());
      float f3 = localVector2f1.dot(localContact.normal);
      float f4 = localVector2f2.dot(localContact.normal);
      float f5 = this.body1.getInvMass() + this.body2.getInvMass();
      f5 += this.body1.getInvI() * (localVector2f1.dot(localVector2f1) - f3 * f3) + this.body2.getInvI() * (localVector2f2.dot(localVector2f2) - f4 * f4);
      localContact.massNormal = (paramFloat3 / f5);
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