Package org.jbox2d.common

Examples of org.jbox2d.common.Vec2.lengthSquared()

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            pAToShape.normalize();
            pAToShape.mulLocal(FORCE_MAGNITUDE);
            dc.getBody().applyForce(pAToShape,shapePos);
          }
        }else if(Vec2.dot(pBToShape, vecBToA)<0){
          if(pBToShape.lengthSquared()>ASBOTXConfigs.E_SQUARE){
            pBToShape.negateLocal();
            pBToShape.normalize();
            pBToShape.mulLocal(FORCE_MAGNITUDE);
            dc.getBody().applyForce(pBToShape,shapePos);
          }
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      if(dc.isDestroyed()){
        contentCreations.remove(i);
      }else{
       
        v=center.sub(dc.getBody().getPosition());
        float lengthS=v.lengthSquared();
       
        if(lengthS>ASBOTXConfigs.E_SQUARE){
          v.normalize();
          v.mulLocal((float)radius*K*dc.getBody().getMass());
          dc.getBody().applyForce(v, dc.getBody().getWorldCenter());
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        if (c < 0.0f) {
          ie = j;
        }

        // Collinearity check
        if (c == 0.0f && v.lengthSquared() > r.lengthSquared()) {
          ie = j;
        }
      }

      ++m;
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    for (int i = 0; i < m_count; ++i) {
      final int i1 = i;
      final int i2 = i + 1 < m_count ? i + 1 : 0;
      edge.set(m_vertices[i2]).subLocal(m_vertices[i1]);

      assert (edge.lengthSquared() > Settings.EPSILON * Settings.EPSILON);
      Vec2.crossToOutUnsafe(edge, 1f, m_normals[i]);
      m_normals[i].normalize();
    }

    // Compute the polygon centroid.
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    for (int i = 0; i < bodies.length; ++i) {
      final int next = (i == bodies.length - 1) ? 0 : i + 1;
      delta.set(toExtrude * (normals[i].x + normals[next].x), toExtrude
          * (normals[i].y + normals[next].y));
      // sumdeltax += dx;
      float normSqrd = delta.lengthSquared();
      if (normSqrd > Settings.maxLinearCorrection * Settings.maxLinearCorrection) {
        delta.mulLocal(Settings.maxLinearCorrection / MathUtils.sqrt(normSqrd));
      }
      if (normSqrd > Settings.linearSlop * Settings.linearSlop) {
        done = false;
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        if (c < 0.0f) {
          ie = j;
        }

        // Collinearity check
        if (c == 0.0f && v.lengthSquared() > r.lengthSquared()) {
          ie = j;
        }
      }

      ++m;
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    for (int i = 0; i < m_count; ++i) {
      final int i1 = i;
      final int i2 = i + 1 < m_count ? i + 1 : 0;
      edge.set(m_vertices[i2]).subLocal(m_vertices[i1]);

      assert (edge.lengthSquared() > Settings.EPSILON * Settings.EPSILON);
      Vec2.crossToOutUnsafe(edge, 1f, m_normals[i]);
      m_normals[i].normalize();
    }

    // Compute the polygon centroid.
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    for (int i = 0; i < m_vertexCount; ++i) {
      final int i1 = i;
      final int i2 = i + 1 < m_vertexCount ? i + 1 : 0;
      edge.set(m_vertices[i2]).subLocal(m_vertices[i1]);
     
      assert (edge.lengthSquared() > Settings.EPSILON * Settings.EPSILON);
      Vec2.crossToOut(edge, 1f, m_normals[i]);
      m_normals[i].normalize();
    }
   
    if (m_debug) {
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      float invMass1 = b1.m_invMass, invMass2 = b2.m_invMass;
      float invI1 = b1.m_invI, invI2 = b2.m_invI;
     
      // Handle large detachment.
      final float k_allowedStretch = 10.0f * Settings.linearSlop;
      if (C.lengthSquared() > k_allowedStretch * k_allowedStretch) {
        Vec2 u = pool.popVec2();
       
        // Use a particle solution (no rotation).
        // u.set(C);
        // u.normalize(); ?? we don't even use this
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    boolean done = true;
    for (int i = 0; i < bodies.length; ++i) {
      final int next = (i == bodies.length - 1) ? 0 : i + 1;
      delta.set(toExtrude * (normals[i].x + normals[next].x), toExtrude * (normals[i].y + normals[next].y));
      // sumdeltax += dx;
      float normSqrd = delta.lengthSquared();
      if (normSqrd > Settings.maxLinearCorrection * Settings.maxLinearCorrection) {
        delta.mulLocal(Settings.maxLinearCorrection / MathUtils.sqrt(normSqrd));
      }
      if (normSqrd > Settings.linearSlop * Settings.linearSlop) {
        done = false;
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