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

Example 21 with Vec2

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

the class PulleyJoint method solvePositionConstraints.

@Override
public boolean solvePositionConstraints(final SolverData data) {
    final Rotation qA = pool.popRot();
    final Rotation qB = pool.popRot();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    final Vec2 uA = pool.popVec2();
    final Vec2 uB = pool.popVec2();
    final Vec2 temp = pool.popVec2();
    final Vec2 PA = pool.popVec2();
    final Vec2 PB = pool.popVec2();
    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;
    qA.set(aA);
    qB.set(aB);
    Rotation.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rotation.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    uA.set(cA).addLocal(rA).subLocal(m_groundAnchorA);
    uB.set(cB).addLocal(rB).subLocal(m_groundAnchorB);
    float lengthA = uA.length();
    float lengthB = uB.length();
    if (lengthA > 10.0f * JBoxSettings.linearSlop) {
        uA.mulLocal(1.0f / lengthA);
    } else {
        uA.setZero();
    }
    if (lengthB > 10.0f * JBoxSettings.linearSlop) {
        uB.mulLocal(1.0f / lengthB);
    } else {
        uB.setZero();
    }
    // Compute effective mass.
    float ruA = Vec2.cross(rA, uA);
    float ruB = Vec2.cross(rB, uB);
    float mA = m_invMassA + m_invIA * ruA * ruA;
    float mB = m_invMassB + m_invIB * ruB * ruB;
    float mass = mA + m_ratio * m_ratio * mB;
    if (mass > 0.0f) {
        mass = 1.0f / mass;
    }
    float C = m_constant - lengthA - m_ratio * lengthB;
    float linearError = FXGLMath.abs(C);
    float impulse = -mass * C;
    PA.set(uA).mulLocal(-impulse);
    PB.set(uB).mulLocal(-m_ratio * impulse);
    cA.x += m_invMassA * PA.x;
    cA.y += m_invMassA * PA.y;
    aA += m_invIA * Vec2.cross(rA, PA);
    cB.x += m_invMassB * PB.x;
    cB.y += m_invMassB * PB.y;
    aB += m_invIB * Vec2.cross(rB, PB);
    // data.positions[m_indexA].c.set(cA);
    data.positions[m_indexA].a = aA;
    // data.positions[m_indexB].c.set(cB);
    data.positions[m_indexB].a = aB;
    pool.pushRot(2);
    pool.pushVec2(7);
    return linearError < JBoxSettings.linearSlop;
}

Example 22 with Vec2

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

the class PulleyJoint 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_uA.set(cA).addLocal(m_rA).subLocal(m_groundAnchorA);
    m_uB.set(cB).addLocal(m_rB).subLocal(m_groundAnchorB);
    float lengthA = m_uA.length();
    float lengthB = m_uB.length();
    if (lengthA > 10f * JBoxSettings.linearSlop) {
        m_uA.mulLocal(1.0f / lengthA);
    } else {
        m_uA.setZero();
    }
    if (lengthB > 10f * JBoxSettings.linearSlop) {
        m_uB.mulLocal(1.0f / lengthB);
    } else {
        m_uB.setZero();
    }
    // Compute effective mass.
    float ruA = Vec2.cross(m_rA, m_uA);
    float ruB = Vec2.cross(m_rB, m_uB);
    float mA = m_invMassA + m_invIA * ruA * ruA;
    float mB = m_invMassB + m_invIB * ruB * ruB;
    m_mass = mA + m_ratio * m_ratio * mB;
    if (m_mass > 0.0f) {
        m_mass = 1.0f / m_mass;
    }
    if (data.step.warmStarting) {
        // Scale impulses to support variable time steps.
        m_impulse *= data.step.dtRatio;
        // Warm starting.
        final Vec2 PA = pool.popVec2();
        final Vec2 PB = pool.popVec2();
        PA.set(m_uA).mulLocal(-m_impulse);
        PB.set(m_uB).mulLocal(-m_ratio * m_impulse);
        vA.x += m_invMassA * PA.x;
        vA.y += m_invMassA * PA.y;
        wA += m_invIA * Vec2.cross(m_rA, PA);
        vB.x += m_invMassB * PB.x;
        vB.y += m_invMassB * PB.y;
        wB += m_invIB * Vec2.cross(m_rB, PB);
        pool.pushVec2(2);
    } else {
        m_impulse = 0.0f;
    }
    // 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(1);
    pool.pushRot(2);
}

Example 23 with Vec2

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

the class PulleyJoint method getLength1.

public float getLength1() {
    final Vec2 p = pool.popVec2();
    m_bodyA.getWorldPointToOut(m_localAnchorA, p);
    p.subLocal(m_groundAnchorA);
    float len = p.length();
    pool.pushVec2(1);
    return len;
}

Example 24 with Vec2

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

the class PulleyJoint 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();
    final Vec2 PA = pool.popVec2();
    final Vec2 PB = pool.popVec2();
    Vec2.crossToOutUnsafe(wA, m_rA, vpA);
    vpA.addLocal(vA);
    Vec2.crossToOutUnsafe(wB, m_rB, vpB);
    vpB.addLocal(vB);
    float Cdot = -Vec2.dot(m_uA, vpA) - m_ratio * Vec2.dot(m_uB, vpB);
    float impulse = -m_mass * Cdot;
    m_impulse += impulse;
    PA.set(m_uA).mulLocal(-impulse);
    PB.set(m_uB).mulLocal(-m_ratio * impulse);
    vA.x += m_invMassA * PA.x;
    vA.y += m_invMassA * PA.y;
    wA += m_invIA * Vec2.cross(m_rA, PA);
    vB.x += m_invMassB * PB.x;
    vB.y += m_invMassB * PB.y;
    wB += m_invIB * Vec2.cross(m_rB, PB);
    // 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(4);
}

Example 25 with Vec2

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

the class RevoluteJoint 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);
    // J = [-I -r1_skew I r2_skew]
    // [ 0 -1 0 1]
    // r_skew = [-ry; rx]
    // Matlab
    // K = [ mA+r1y^2*iA+mB+r2y^2*iB, -r1y*iA*r1x-r2y*iB*r2x, -r1y*iA-r2y*iB]
    // [ -r1y*iA*r1x-r2y*iB*r2x, mA+r1x^2*iA+mB+r2x^2*iB, r1x*iA+r2x*iB]
    // [ -r1y*iA-r2y*iB, r1x*iA+r2x*iB, iA+iB]
    float mA = m_invMassA, mB = m_invMassB;
    float iA = m_invIA, iB = m_invIB;
    boolean fixedRotation = iA + iB == 0.0f;
    m_mass.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
    m_mass.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
    m_mass.ez.x = -m_rA.y * iA - m_rB.y * iB;
    m_mass.ex.y = m_mass.ey.x;
    m_mass.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
    m_mass.ez.y = m_rA.x * iA + m_rB.x * iB;
    m_mass.ex.z = m_mass.ez.x;
    m_mass.ey.z = m_mass.ez.y;
    m_mass.ez.z = iA + iB;
    m_motorMass = iA + iB;
    if (m_motorMass > 0.0f) {
        m_motorMass = 1.0f / m_motorMass;
    }
    if (!m_enableMotor || fixedRotation) {
        m_motorImpulse = 0.0f;
    }
    if (m_enableLimit && !fixedRotation) {
        float jointAngle = aB - aA - m_referenceAngle;
        if (FXGLMath.abs(m_upperAngle - m_lowerAngle) < 2.0f * JBoxSettings.angularSlop) {
            m_limitState = LimitState.EQUAL;
        } else if (jointAngle <= m_lowerAngle) {
            if (m_limitState != LimitState.AT_LOWER) {
                m_impulse.z = 0.0f;
            }
            m_limitState = LimitState.AT_LOWER;
        } else if (jointAngle >= m_upperAngle) {
            if (m_limitState != LimitState.AT_UPPER) {
                m_impulse.z = 0.0f;
            }
            m_limitState = LimitState.AT_UPPER;
        } else {
            m_limitState = LimitState.INACTIVE;
            m_impulse.z = 0.0f;
        }
    } else {
        m_limitState = LimitState.INACTIVE;
    }
    if (data.step.warmStarting) {
        final Vec2 P = pool.popVec2();
        // Scale impulses to support a variable time step.
        m_impulse.x *= data.step.dtRatio;
        m_impulse.y *= data.step.dtRatio;
        m_motorImpulse *= data.step.dtRatio;
        P.x = m_impulse.x;
        P.y = m_impulse.y;
        vA.x -= mA * P.x;
        vA.y -= mA * P.y;
        wA -= iA * (Vec2.cross(m_rA, P) + m_motorImpulse + m_impulse.z);
        vB.x += mB * P.x;
        vB.y += mB * P.y;
        wB += iB * (Vec2.cross(m_rB, P) + m_motorImpulse + m_impulse.z);
        pool.pushVec2(1);
    } else {
        m_impulse.setZero();
        m_motorImpulse = 0.0f;
    }
    // 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(1);
    pool.pushRot(2);
}