Examples with Vec2 com.almasb.fxgl.core.math.Vec2 used on opensource projects

Example 46 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class RopeJoint method initVelocityConstraints.

@Override
public void initVelocityConstraints(final SolverData data) {
    m_indexA = m_bodyA.m_islandIndex;
    m_indexB = m_bodyB.m_islandIndex;
    m_localCenterA.set(m_bodyA.m_sweep.localCenter);
    m_localCenterB.set(m_bodyB.m_sweep.localCenter);
    m_invMassA = m_bodyA.m_invMass;
    m_invMassB = m_bodyB.m_invMass;
    m_invIA = m_bodyA.m_invI;
    m_invIB = m_bodyB.m_invI;
    Vec2 cA = data.positions[m_indexA].c;
    float aA = data.positions[m_indexA].a;
    Vec2 vA = data.velocities[m_indexA].v;
    float wA = data.velocities[m_indexA].w;
    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;
    final Rotation qA = pool.popRot();
    final Rotation qB = pool.popRot();
    final Vec2 temp = pool.popVec2();
    qA.set(aA);
    qB.set(aB);
    // Compute the effective masses.
    Rotation.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
    Rotation.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
    m_u.set(cB).addLocal(m_rB).subLocal(cA).subLocal(m_rA);
    m_length = m_u.length();
    float C = m_length - m_maxLength;
    if (C > 0.0f) {
        m_state = LimitState.AT_UPPER;
    } else {
        m_state = LimitState.INACTIVE;
    }
    if (m_length > JBoxSettings.linearSlop) {
        m_u.mulLocal(1.0f / m_length);
    } else {
        m_u.setZero();
        m_mass = 0.0f;
        m_impulse = 0.0f;
        return;
    }
    // Compute effective mass.
    float crA = Vec2.cross(m_rA, m_u);
    float crB = Vec2.cross(m_rB, m_u);
    float invMass = m_invMassA + m_invIA * crA * crA + m_invMassB + m_invIB * crB * crB;
    m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
    if (data.step.warmStarting) {
        // Scale the impulse to support a variable time step.
        m_impulse *= data.step.dtRatio;
        float Px = m_impulse * m_u.x;
        float Py = m_impulse * m_u.y;
        vA.x -= m_invMassA * Px;
        vA.y -= m_invMassA * Py;
        wA -= m_invIA * (m_rA.x * Py - m_rA.y * Px);
        vB.x += m_invMassB * Px;
        vB.y += m_invMassB * Py;
        wB += m_invIB * (m_rB.x * Py - m_rB.y * Px);
    } else {
        m_impulse = 0.0f;
    }
    pool.pushRot(2);
    pool.pushVec2(1);
    // data.velocities[m_indexA].v = vA;
    data.velocities[m_indexA].w = wA;
    // data.velocities[m_indexB].v = vB;
    data.velocities[m_indexB].w = wB;
}

Example 47 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class RopeJoint method solvePositionConstraints.

@Override
public boolean solvePositionConstraints(final SolverData data) {
    Vec2 cA = data.positions[m_indexA].c;
    float aA = data.positions[m_indexA].a;
    Vec2 cB = data.positions[m_indexB].c;
    float aB = data.positions[m_indexB].a;
    final Rotation qA = pool.popRot();
    final Rotation qB = pool.popRot();
    final Vec2 u = pool.popVec2();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    qA.set(aA);
    qB.set(aB);
    // Compute the effective masses.
    Rotation.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rotation.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
    float length = u.getLengthAndNormalize();
    float C = length - m_maxLength;
    C = FXGLMath.clamp(C, 0.0f, JBoxSettings.maxLinearCorrection);
    float impulse = -m_mass * C;
    float Px = impulse * u.x;
    float Py = impulse * u.y;
    cA.x -= m_invMassA * Px;
    cA.y -= m_invMassA * Py;
    aA -= m_invIA * (rA.x * Py - rA.y * Px);
    cB.x += m_invMassB * Px;
    cB.y += m_invMassB * Py;
    aB += m_invIB * (rB.x * Py - rB.y * Px);
    pool.pushRot(2);
    pool.pushVec2(4);
    // data.positions[m_indexA].c = cA;
    data.positions[m_indexA].a = aA;
    // data.positions[m_indexB].c = cB;
    data.positions[m_indexB].a = aB;
    return length - m_maxLength < JBoxSettings.linearSlop;
}

Example 48 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class WeldJoint method solveVelocityConstraints.

@Override
public void solveVelocityConstraints(final SolverData data) {
    Vec2 vA = data.velocities[m_indexA].v;
    float wA = data.velocities[m_indexA].w;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;
    float mA = m_invMassA, mB = m_invMassB;
    float iA = m_invIA, iB = m_invIB;
    final Vec2 Cdot1 = pool.popVec2();
    final Vec2 P = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    if (m_frequencyHz > 0.0f) {
        float Cdot2 = wB - wA;
        float impulse2 = -m_mass.ez.z * (Cdot2 + m_bias + m_gamma * m_impulse.z);
        m_impulse.z += impulse2;
        wA -= iA * impulse2;
        wB += iB * impulse2;
        Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
        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;
        vA.y -= mA * P.y;
        wA -= iA * Vec2.cross(m_rA, P);
        vB.x += mB * P.x;
        vB.y += mB * P.y;
        wB += iB * Vec2.cross(m_rB, P);
    } else {
        Vec2.crossToOutUnsafe(wA, m_rA, temp);
        Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
        Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);
        float Cdot2 = wB - wA;
        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;
        vA.y -= mA * P.y;
        wA -= iA * (Vec2.cross(m_rA, P) + impulse.z);
        vB.x += mB * P.x;
        vB.y += mB * P.y;
        wB += iB * (Vec2.cross(m_rB, P) + impulse.z);
        pool.pushVec3(2);
    }
    // data.velocities[m_indexA].v.set(vA);
    data.velocities[m_indexA].w = wA;
    // data.velocities[m_indexB].v.set(vB);
    data.velocities[m_indexB].w = wB;
    pool.pushVec2(3);
}

Example 49 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class GearJoint method solveVelocityConstraints.

@Override
public void solveVelocityConstraints(SolverData data) {
    Vec2 vA = data.velocities[m_indexA].v;
    float wA = data.velocities[m_indexA].w;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;
    Vec2 vC = data.velocities[m_indexC].v;
    float wC = data.velocities[m_indexC].w;
    Vec2 vD = data.velocities[m_indexD].v;
    float wD = data.velocities[m_indexD].w;
    Vec2 temp1 = pool.popVec2();
    Vec2 temp2 = pool.popVec2();
    float Cdot = Vec2.dot(m_JvAC, temp1.set(vA).subLocal(vC)) + Vec2.dot(m_JvBD, temp2.set(vB).subLocal(vD));
    Cdot += (m_JwA * wA - m_JwC * wC) + (m_JwB * wB - m_JwD * wD);
    pool.pushVec2(2);
    float impulse = -m_mass * Cdot;
    m_impulse += impulse;
    vA.x += (m_mA * impulse) * m_JvAC.x;
    vA.y += (m_mA * impulse) * m_JvAC.y;
    wA += m_iA * impulse * m_JwA;
    vB.x += (m_mB * impulse) * m_JvBD.x;
    vB.y += (m_mB * impulse) * m_JvBD.y;
    wB += m_iB * impulse * m_JwB;
    vC.x -= (m_mC * impulse) * m_JvAC.x;
    vC.y -= (m_mC * impulse) * m_JvAC.y;
    wC -= m_iC * impulse * m_JwC;
    vD.x -= (m_mD * impulse) * m_JvBD.x;
    vD.y -= (m_mD * impulse) * m_JvBD.y;
    wD -= m_iD * impulse * m_JwD;
    // data.velocities[m_indexA].v = vA;
    data.velocities[m_indexA].w = wA;
    // data.velocities[m_indexB].v = vB;
    data.velocities[m_indexB].w = wB;
    // data.velocities[m_indexC].v = vC;
    data.velocities[m_indexC].w = wC;
    // data.velocities[m_indexD].v = vD;
    data.velocities[m_indexD].w = wD;
}

Example 50 with Vec2

use of com.almasb.fxgl.core.math.Vec2 in project FXGL by AlmasB.

the class DistanceJoint method solveVelocityConstraints.

@Override
public void solveVelocityConstraints(final SolverData data) {
    Vec2 vA = data.velocities[m_indexA].v;
    float wA = data.velocities[m_indexA].w;
    Vec2 vB = data.velocities[m_indexB].v;
    float wB = data.velocities[m_indexB].w;
    final Vec2 vpA = pool.popVec2();
    final Vec2 vpB = pool.popVec2();
    // Cdot = dot(u, v + cross(w, r))
    Vec2.crossToOutUnsafe(wA, m_rA, vpA);
    vpA.addLocal(vA);
    Vec2.crossToOutUnsafe(wB, m_rB, vpB);
    vpB.addLocal(vB);
    float Cdot = Vec2.dot(m_u, vpB.subLocal(vpA));
    float impulse = -m_mass * (Cdot + m_bias + m_gamma * m_impulse);
    m_impulse += impulse;
    float Px = impulse * m_u.x;
    float Py = impulse * m_u.y;
    vA.x -= m_invMassA * Px;
    vA.y -= m_invMassA * Py;
    wA -= m_invIA * (m_rA.x * Py - m_rA.y * Px);
    vB.x += m_invMassB * Px;
    vB.y += m_invMassB * Py;
    wB += m_invIB * (m_rB.x * Py - m_rB.y * Px);
    data.velocities[m_indexA].w = wA;
    data.velocities[m_indexB].w = wB;
    pool.pushVec2(2);
}