Package org.jbox2d.common

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

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      final Vec2 C = pool.popVec2();
      C.x = C1;
      C.y = C2;
     
      m_K.solveToOut(C.negateLocal(), impulse);
      pool.pushVec2(1);
    }
    else {
      float m1 = m_invMassA, m2 = m_invMassB;
      float i1 = m_invIA, i2 = m_invIB;
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        m_impulse.addLocal(impulse);
      }
      else if (m_limitState == LimitState.AT_LOWER) {
        float newImpulse = m_impulse.z + impulse.z;
        if (newImpulse < 0.0f) {
          m_mass.solve22ToOut(Cdot1.negateLocal(), temp);
          //Cdot1.negateLocal(); just leave negated, we don't use it again
          impulse.x = temp.x;
          impulse.y = temp.y;
          impulse.z = -m_impulse.z;
          m_impulse.x += temp.x;
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        }
      }
      else if (m_limitState == LimitState.AT_UPPER) {
        float newImpulse = m_impulse.z + impulse.z;
        if (newImpulse > 0.0f) {
          m_mass.solve22ToOut(Cdot1.negateLocal(), temp);
          //Cdot1.negateLocal(); just leave negated, we don't use it again
          impulse.x = temp.x;
          impulse.y = temp.y;
          impulse.z = -m_impulse.z;
          m_impulse.x += temp.x;
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      K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
      K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
      K.ey.x = K.ex.y;
      K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
      K.solveToOut(C, impulse);
      impulse.negateLocal();

      cA.x -= mA * impulse.x;
      cA.y -= mA * impulse.y;
      aA -= iA * Vec2.cross(rA, impulse);

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      Vec2.crossToOutUnsafe(wA, m_rA, temp);
      Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);

      final Vec2 impulse1 = P;
      Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1);
      impulse1.negateLocal();

      m_impulse.x += impulse1.x;
      m_impulse.y += impulse1.y;

      vA.x -= mA * P.x;
 
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      positionError = C1.length();
      angularError = 0.0f;

      K.solve22ToOut(C1, P);
      P.negateLocal();

      cA.x -= mA * P.x;
      cA.y -= mA * P.y;
      aA -= iA * Vec2.cross(rA, P);

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      K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
      K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
      K.ey.x = K.ex.y;
      K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
      K.solveToOut(C, impulse);
      impulse.negateLocal();

      cA.x -= mA * impulse.x;
      cA.y -= mA * impulse.y;
      aA -= iA * Vec2.cross(rA, impulse);

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      Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
      Cdot.addLocal(vB).subLocal(vA).subLocal(temp);

      final Vec2 impulse = pool.popVec2();
      Mat22.mulToOutUnsafe(m_linearMass, Cdot, impulse);
      impulse.negateLocal();

      final Vec2 oldImpulse = pool.popVec2();
      oldImpulse.set(m_linearImpulse);
      m_linearImpulse.addLocal(impulse);
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      Vec2.crossToOutUnsafe(wA, m_rA, temp);
      Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);

      final Vec2 impulse1 = P;
      Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1);
      impulse1.negateLocal();

      m_impulse.x += impulse1.x;
      m_impulse.y += impulse1.y;

      vA.x -= mA * P.x;
 
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      positionError = C1.length();
      angularError = 0.0f;

      K.solve22ToOut(C1, P);
      P.negateLocal();

      cA.x -= mA * P.x;
      cA.y -= mA * P.y;
      aA -= iA * Vec2.cross(rA, P);

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