Package org.jbox2d.common

Examples of org.jbox2d.common.Vec3.negateLocal()

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      float Cdot2 = wB - wA;
      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);

      Vec3 impulse = pool.popVec3();
      m_mass.solve33ToOut(Cdot, impulse);
      impulse.negateLocal();

      if (m_limitState == LimitState.EQUAL) {
        m_impulse.addLocal(impulse);
      } else if (m_limitState == LimitState.AT_LOWER) {
        float newImpulse = m_impulse.z + impulse.z;
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      final Vec3 Cdot = pool.popVec3();
      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);

      final Vec3 impulse = pool.popVec3();
      Mat33.mulToOutUnsafe(m_mass, Cdot, impulse);
      impulse.negateLocal();
      m_impulse.addLocal(impulse);

      P.set(impulse.x, impulse.y);

      vA.x -= mA * P.x;
 
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      final Vec3 C = pool.popVec3();
      final Vec3 impulse = pool.popVec3();
      C.set(C1.x, C1.y, C2);

      K.solve33ToOut(C, impulse);
      impulse.negateLocal();
      P.set(impulse.x, impulse.y);

      cA.x -= mA * P.x;
      cA.y -= mA * P.y;
      aA -= iA * (Vec2.cross(rA, P) + impulse.z);
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      final Vec3 C = pool.popVec3();
      C.x = C1.x;
      C.y = C1.y;
      C.z = C2;

      K.solve33ToOut(C.negateLocal(), impulse);
      pool.pushVec3(1);
      pool.pushMat33(1);
    } else {
      float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
      float k12 = iA * s1 + iB * s2;
 
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      final Vec3 C = pool.popVec3();
      C.x = C1.x;
      C.y = C1.y;
      C.z = C2;
     
      m_K.solve33ToOut(C.negateLocal(), impulse);
      pool.pushVec3(1);
    }
    else {
      float m1 = m_invMassA, m2 = m_invMassB;
      float i1 = m_invIA, i2 = m_invIB;
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      temp.set(v2).subLocal(v1);
      Cdot2 = Vec2.dot(m_axis, temp) + m_a2 * w2 - m_a1 * w1;
     
      final Vec3 Cdot = pool.popVec3();
      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);
      Cdot.negateLocal();
     
      final Vec3 f1 = pool.popVec3();
      f1.set(m_impulse);
     
      final Vec3 df = pool.popVec3();
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      final Vec3 C = pool.popVec3();
      C.x = C1.x;
      C.y = C1.y;
      C.z = C2;

      K.solve33ToOut(C.negateLocal(), impulse);
      pool.pushVec3(1);
      pool.pushMat33(1);
    } else {
      float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
      float k12 = iA * s1 + iB * s2;
 
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      float Cdot2 = wB - wA;
      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);

      Vec3 impulse = pool.popVec3();
      m_mass.solve33ToOut(Cdot, impulse);
      impulse.negateLocal();

      if (m_limitState == LimitState.EQUAL) {
        m_impulse.addLocal(impulse);
      } else if (m_limitState == LimitState.AT_LOWER) {
        float newImpulse = m_impulse.z + impulse.z;
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      final Vec3 Cdot = pool.popVec3();
      Cdot.set(Cdot1.x, Cdot1.y, Cdot2);

      final Vec3 impulse = pool.popVec3();
      Mat33.mulToOutUnsafe(m_mass, Cdot, impulse);
      impulse.negateLocal();
      m_impulse.addLocal(impulse);

      P.set(impulse.x, impulse.y);

      vA.x -= mA * P.x;
 
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      final Vec3 C = pool.popVec3();
      final Vec3 impulse = pool.popVec3();
      C.set(C1.x, C1.y, C2);

      K.solve33ToOut(C, impulse);
      impulse.negateLocal();
      P.set(impulse.x, impulse.y);

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