Examples with Vec2 org.jbox2d.common.Vec2 used on opensource projects

Example 31 with Vec2

use of org.jbox2d.common.Vec2 in project libgdx by libgdx.

the class WheelJoint method getLocalAnchorA.

public Vector2 getLocalAnchorA() {
    Vec2 localAnchor = joint.getLocalAnchorA();
    localAnchorA.set(localAnchor.x, localAnchor.y);
    return localAnchorA;
}

Example 32 with Vec2

use of org.jbox2d.common.Vec2 in project libgdx by libgdx.

the class DebugDraw method getWorldToScreen.

/**
   * Takes the world coordinates and returns the screen coordinates.
   * 
   * @param worldX
   * @param worldY
   */
public Vec2 getWorldToScreen(float worldX, float worldY) {
    Vec2 argScreen = new Vec2(worldX, worldY);
    viewportTransform.getWorldToScreen(argScreen, argScreen);
    return argScreen;
}

Example 33 with Vec2

use of org.jbox2d.common.Vec2 in project libgdx by libgdx.

the class DebugDraw method getScreenToWorld.

/**
   * takes the screen coordinates (argScreen) and returns the world coordinates
   * 
   * @param argScreen
   */
public Vec2 getScreenToWorld(Vec2 argScreen) {
    Vec2 world = new Vec2();
    viewportTransform.getScreenToWorld(argScreen, world);
    return world;
}

Example 34 with Vec2

use of org.jbox2d.common.Vec2 in project libgdx by libgdx.

the class PulleyJointDef method initialize.

/**
   * Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
   */
public void initialize(Body b1, Body b2, Vec2 ga1, Vec2 ga2, Vec2 anchor1, Vec2 anchor2, float r) {
    bodyA = b1;
    bodyB = b2;
    groundAnchorA = ga1;
    groundAnchorB = ga2;
    localAnchorA = bodyA.getLocalPoint(anchor1);
    localAnchorB = bodyB.getLocalPoint(anchor2);
    Vec2 d1 = anchor1.sub(ga1);
    lengthA = d1.length();
    Vec2 d2 = anchor2.sub(ga2);
    lengthB = d2.length();
    ratio = r;
    assert (ratio > Settings.EPSILON);
}

Example 35 with Vec2

use of org.jbox2d.common.Vec2 in project libgdx by libgdx.

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 Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 temp = pool.popVec2();
    qA.set(aA);
    qB.set(aB);
    // Compute the effective masses.
    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;
    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 == false || fixedRotation) {
        m_motorImpulse = 0.0f;
    }
    if (m_enableLimit && fixedRotation == false) {
        float jointAngle = aB - aA - m_referenceAngle;
        if (MathUtils.abs(m_upperAngle - m_lowerAngle) < 2.0f * Settings.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);
}