use of org.jbox2d.common.Rot in project libgdx by libgdx.
the class MotorJoint method initVelocityConstraints.
@Override
public void initVelocityConstraints(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;
final Vec2 cA = data.positions[m_indexA].c;
float aA = data.positions[m_indexA].a;
final Vec2 vA = data.velocities[m_indexA].v;
float wA = data.velocities[m_indexA].w;
final Vec2 cB = data.positions[m_indexB].c;
float aB = data.positions[m_indexB].a;
final Vec2 vB = data.velocities[m_indexB].v;
float wB = data.velocities[m_indexB].w;
final Rot qA = pool.popRot();
final Rot qB = pool.popRot();
final Vec2 temp = pool.popVec2();
Mat22 K = pool.popMat22();
qA.set(aA);
qB.set(aB);
// Compute the effective mass matrix.
// m_rA = b2Mul(qA, -m_localCenterA);
// m_rB = b2Mul(qB, -m_localCenterB);
m_rA.x = qA.c * -m_localCenterA.x - qA.s * -m_localCenterA.y;
m_rA.y = qA.s * -m_localCenterA.x + qA.c * -m_localCenterA.y;
m_rB.x = qB.c * -m_localCenterB.x - qB.s * -m_localCenterB.y;
m_rB.y = qB.s * -m_localCenterB.x + qB.c * -m_localCenterB.y;
// 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;
K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
K.ey.x = K.ex.y;
K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
K.invertToOut(m_linearMass);
m_angularMass = iA + iB;
if (m_angularMass > 0.0f) {
m_angularMass = 1.0f / m_angularMass;
}
// m_linearError = cB + m_rB - cA - m_rA - b2Mul(qA, m_linearOffset);
Rot.mulToOutUnsafe(qA, m_linearOffset, temp);
m_linearError.x = cB.x + m_rB.x - cA.x - m_rA.x - temp.x;
m_linearError.y = cB.y + m_rB.y - cA.y - m_rA.y - temp.y;
m_angularError = aB - aA - m_angularOffset;
if (data.step.warmStarting) {
// Scale impulses to support a variable time step.
m_linearImpulse.x *= data.step.dtRatio;
m_linearImpulse.y *= data.step.dtRatio;
m_angularImpulse *= data.step.dtRatio;
final Vec2 P = m_linearImpulse;
vA.x -= mA * P.x;
vA.y -= mA * P.y;
wA -= iA * (m_rA.x * P.y - m_rA.y * P.x + m_angularImpulse);
vB.x += mB * P.x;
vB.y += mB * P.y;
wB += iB * (m_rB.x * P.y - m_rB.y * P.x + m_angularImpulse);
} else {
m_linearImpulse.setZero();
m_angularImpulse = 0.0f;
}
pool.pushVec2(1);
pool.pushMat22(1);
pool.pushRot(2);
// data.velocities[m_indexA].v = vA;
data.velocities[m_indexA].w = wA;
// data.velocities[m_indexB].v = vB;
data.velocities[m_indexB].w = wB;
}
use of org.jbox2d.common.Rot in project libgdx by libgdx.
the class MouseJoint method initVelocityConstraints.
@Override
public void initVelocityConstraints(final SolverData data) {
m_indexB = m_bodyB.m_islandIndex;
m_localCenterB.set(m_bodyB.m_sweep.localCenter);
m_invMassB = m_bodyB.m_invMass;
m_invIB = m_bodyB.m_invI;
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 Rot qB = pool.popRot();
qB.set(aB);
float mass = m_bodyB.getMass();
// Frequency
float omega = 2.0f * MathUtils.PI * m_frequencyHz;
// Damping coefficient
float d = 2.0f * mass * m_dampingRatio * omega;
// Spring stiffness
float k = mass * (omega * omega);
// magic formulas
// gamma has units of inverse mass.
// beta has units of inverse time.
float h = data.step.dt;
assert (d + h * k > Settings.EPSILON);
m_gamma = h * (d + h * k);
if (m_gamma != 0.0f) {
m_gamma = 1.0f / m_gamma;
}
m_beta = h * k * m_gamma;
Vec2 temp = pool.popVec2();
// Compute the effective mass matrix.
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
// K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
// = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
// [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x*r1.y r1.x*r1.x]
final Mat22 K = pool.popMat22();
K.ex.x = m_invMassB + m_invIB * m_rB.y * m_rB.y + m_gamma;
K.ex.y = -m_invIB * m_rB.x * m_rB.y;
K.ey.x = K.ex.y;
K.ey.y = m_invMassB + m_invIB * m_rB.x * m_rB.x + m_gamma;
K.invertToOut(m_mass);
m_C.set(cB).addLocal(m_rB).subLocal(m_targetA);
m_C.mulLocal(m_beta);
// Cheat with some damping
wB *= 0.98f;
if (data.step.warmStarting) {
m_impulse.mulLocal(data.step.dtRatio);
vB.x += m_invMassB * m_impulse.x;
vB.y += m_invMassB * m_impulse.y;
wB += m_invIB * Vec2.cross(m_rB, m_impulse);
} else {
m_impulse.setZero();
}
// data.velocities[m_indexB].v.set(vB);
data.velocities[m_indexB].w = wB;
pool.pushVec2(1);
pool.pushMat22(1);
pool.pushRot(1);
}
use of org.jbox2d.common.Rot in project libgdx by libgdx.
the class DistanceJoint 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 Rot qA = pool.popRot();
final Rot qB = pool.popRot();
qA.set(aA);
qB.set(aB);
// use m_u as temporary variable
Rot.mulToOutUnsafe(qA, m_u.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
Rot.mulToOutUnsafe(qB, m_u.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
m_u.set(cB).addLocal(m_rB).subLocal(cA).subLocal(m_rA);
pool.pushRot(2);
// Handle singularity.
float length = m_u.length();
if (length > Settings.linearSlop) {
m_u.x *= 1.0f / length;
m_u.y *= 1.0f / length;
} else {
m_u.set(0.0f, 0.0f);
}
float crAu = Vec2.cross(m_rA, m_u);
float crBu = Vec2.cross(m_rB, m_u);
float invMass = m_invMassA + m_invIA * crAu * crAu + m_invMassB + m_invIB * crBu * crBu;
// Compute the effective mass matrix.
m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
if (m_frequencyHz > 0.0f) {
float C = length - m_length;
// Frequency
float omega = 2.0f * MathUtils.PI * m_frequencyHz;
// Damping coefficient
float d = 2.0f * m_mass * m_dampingRatio * omega;
// Spring stiffness
float k = m_mass * omega * omega;
// magic formulas
float h = data.step.dt;
m_gamma = h * (d + h * k);
m_gamma = m_gamma != 0.0f ? 1.0f / m_gamma : 0.0f;
m_bias = C * h * k * m_gamma;
invMass += m_gamma;
m_mass = invMass != 0.0f ? 1.0f / invMass : 0.0f;
} else {
m_gamma = 0.0f;
m_bias = 0.0f;
}
if (data.step.warmStarting) {
// Scale the impulse to support a variable time step.
m_impulse *= data.step.dtRatio;
Vec2 P = pool.popVec2();
P.set(m_u).mulLocal(m_impulse);
vA.x -= m_invMassA * P.x;
vA.y -= m_invMassA * P.y;
wA -= m_invIA * Vec2.cross(m_rA, P);
vB.x += m_invMassB * P.x;
vB.y += m_invMassB * P.y;
wB += m_invIB * Vec2.cross(m_rB, P);
pool.pushVec2(1);
} 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;
}
use of org.jbox2d.common.Rot in project libgdx by libgdx.
the class FrictionJoint method initVelocityConstraints.
/**
* @see org.jbox2d.dynamics.joints.Joint#initVelocityConstraints(org.jbox2d.dynamics.TimeStep)
*/
@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;
float aA = data.positions[m_indexA].a;
Vec2 vA = data.velocities[m_indexA].v;
float wA = data.velocities[m_indexA].w;
float aB = data.positions[m_indexB].a;
Vec2 vB = data.velocities[m_indexB].v;
float wB = data.velocities[m_indexB].w;
final Vec2 temp = pool.popVec2();
final Rot qA = pool.popRot();
final Rot qB = pool.popRot();
qA.set(aA);
qB.set(aB);
// Compute the effective mass matrix.
Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
Rot.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;
final Mat22 K = pool.popMat22();
K.ex.x = mA + mB + iA * m_rA.y * m_rA.y + iB * m_rB.y * m_rB.y;
K.ex.y = -iA * m_rA.x * m_rA.y - iB * m_rB.x * m_rB.y;
K.ey.x = K.ex.y;
K.ey.y = mA + mB + iA * m_rA.x * m_rA.x + iB * m_rB.x * m_rB.x;
K.invertToOut(m_linearMass);
m_angularMass = iA + iB;
if (m_angularMass > 0.0f) {
m_angularMass = 1.0f / m_angularMass;
}
if (data.step.warmStarting) {
// Scale impulses to support a variable time step.
m_linearImpulse.mulLocal(data.step.dtRatio);
m_angularImpulse *= data.step.dtRatio;
final Vec2 P = pool.popVec2();
P.set(m_linearImpulse);
temp.set(P).mulLocal(mA);
vA.subLocal(temp);
wA -= iA * (Vec2.cross(m_rA, P) + m_angularImpulse);
temp.set(P).mulLocal(mB);
vB.addLocal(temp);
wB += iB * (Vec2.cross(m_rB, P) + m_angularImpulse);
pool.pushVec2(1);
} else {
m_linearImpulse.setZero();
m_angularImpulse = 0.0f;
}
// data.velocities[m_indexA].v.set(vA);
if (data.velocities[m_indexA].w != wA) {
assert (data.velocities[m_indexA].w != wA);
}
data.velocities[m_indexA].w = wA;
// data.velocities[m_indexB].v.set(vB);
data.velocities[m_indexB].w = wB;
pool.pushRot(2);
pool.pushVec2(1);
pool.pushMat22(1);
}
use of org.jbox2d.common.Rot in project libgdx by libgdx.
the class GearJoint method solvePositionConstraints.
@Override
public boolean solvePositionConstraints(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;
Vec2 cC = data.positions[m_indexC].c;
float aC = data.positions[m_indexC].a;
Vec2 cD = data.positions[m_indexD].c;
float aD = data.positions[m_indexD].a;
Rot qA = pool.popRot(), qB = pool.popRot(), qC = pool.popRot(), qD = pool.popRot();
qA.set(aA);
qB.set(aB);
qC.set(aC);
qD.set(aD);
float linearError = 0.0f;
float coordinateA, coordinateB;
Vec2 temp = pool.popVec2();
Vec2 JvAC = pool.popVec2();
Vec2 JvBD = pool.popVec2();
float JwA, JwB, JwC, JwD;
float mass = 0.0f;
if (m_typeA == JointType.REVOLUTE) {
JvAC.setZero();
JwA = 1.0f;
JwC = 1.0f;
mass += m_iA + m_iC;
coordinateA = aA - aC - m_referenceAngleA;
} else {
Vec2 rC = pool.popVec2();
Vec2 rA = pool.popVec2();
Vec2 pC = pool.popVec2();
Vec2 pA = pool.popVec2();
Rot.mulToOutUnsafe(qC, m_localAxisC, JvAC);
Rot.mulToOutUnsafe(qC, temp.set(m_localAnchorC).subLocal(m_lcC), rC);
Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_lcA), rA);
JwC = Vec2.cross(rC, JvAC);
JwA = Vec2.cross(rA, JvAC);
mass += m_mC + m_mA + m_iC * JwC * JwC + m_iA * JwA * JwA;
pC.set(m_localAnchorC).subLocal(m_lcC);
Rot.mulTransUnsafe(qC, temp.set(rA).addLocal(cA).subLocal(cC), pA);
coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC);
pool.pushVec2(4);
}
if (m_typeB == JointType.REVOLUTE) {
JvBD.setZero();
JwB = m_ratio;
JwD = m_ratio;
mass += m_ratio * m_ratio * (m_iB + m_iD);
coordinateB = aB - aD - m_referenceAngleB;
} else {
Vec2 u = pool.popVec2();
Vec2 rD = pool.popVec2();
Vec2 rB = pool.popVec2();
Vec2 pD = pool.popVec2();
Vec2 pB = pool.popVec2();
Rot.mulToOutUnsafe(qD, m_localAxisD, u);
Rot.mulToOutUnsafe(qD, temp.set(m_localAnchorD).subLocal(m_lcD), rD);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_lcB), rB);
JvBD.set(u).mulLocal(m_ratio);
JwD = Vec2.cross(rD, u);
JwB = Vec2.cross(rB, u);
mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * JwD * JwD + m_iB * JwB * JwB;
pD.set(m_localAnchorD).subLocal(m_lcD);
Rot.mulTransUnsafe(qD, temp.set(rB).addLocal(cB).subLocal(cD), pB);
coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD);
pool.pushVec2(5);
}
float C = (coordinateA + m_ratio * coordinateB) - m_constant;
float impulse = 0.0f;
if (mass > 0.0f) {
impulse = -C / mass;
}
pool.pushVec2(3);
pool.pushRot(4);
cA.x += (m_mA * impulse) * JvAC.x;
cA.y += (m_mA * impulse) * JvAC.y;
aA += m_iA * impulse * JwA;
cB.x += (m_mB * impulse) * JvBD.x;
cB.y += (m_mB * impulse) * JvBD.y;
aB += m_iB * impulse * JwB;
cC.x -= (m_mC * impulse) * JvAC.x;
cC.y -= (m_mC * impulse) * JvAC.y;
aC -= m_iC * impulse * JwC;
cD.x -= (m_mD * impulse) * JvBD.x;
cD.y -= (m_mD * impulse) * JvBD.y;
aD -= m_iD * impulse * JwD;
// data.positions[m_indexA].c = cA;
data.positions[m_indexA].a = aA;
// data.positions[m_indexB].c = cB;
data.positions[m_indexB].a = aB;
// data.positions[m_indexC].c = cC;
data.positions[m_indexC].a = aC;
// data.positions[m_indexD].c = cD;
data.positions[m_indexD].a = aD;
// TODO_ERIN not implemented
return linearError < Settings.linearSlop;
}
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