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

Example 36 with Vec2

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

the class RevoluteJoint 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;
    boolean fixedRotation = (iA + iB == 0.0f);
    // Solve motor constraint.
    if (m_enableMotor && m_limitState != LimitState.EQUAL && fixedRotation == false) {
        float Cdot = wB - wA - m_motorSpeed;
        float impulse = -m_motorMass * Cdot;
        float oldImpulse = m_motorImpulse;
        float maxImpulse = data.step.dt * m_maxMotorTorque;
        m_motorImpulse = MathUtils.clamp(m_motorImpulse + impulse, -maxImpulse, maxImpulse);
        impulse = m_motorImpulse - oldImpulse;
        wA -= iA * impulse;
        wB += iB * impulse;
    }
    final Vec2 temp = pool.popVec2();
    // Solve limit constraint.
    if (m_enableLimit && m_limitState != LimitState.INACTIVE && fixedRotation == false) {
        final Vec2 Cdot1 = pool.popVec2();
        final Vec3 Cdot = pool.popVec3();
        // Solve point-to-point constraint
        Vec2.crossToOutUnsafe(wA, m_rA, temp);
        Vec2.crossToOutUnsafe(wB, m_rB, Cdot1);
        Cdot1.addLocal(vB).subLocal(vA).subLocal(temp);
        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;
            if (newImpulse < 0.0f) {
                final Vec2 rhs = pool.popVec2();
                rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
                m_mass.solve22ToOut(rhs, temp);
                impulse.x = temp.x;
                impulse.y = temp.y;
                impulse.z = -m_impulse.z;
                m_impulse.x += temp.x;
                m_impulse.y += temp.y;
                m_impulse.z = 0.0f;
                pool.pushVec2(1);
            } else {
                m_impulse.addLocal(impulse);
            }
        } else if (m_limitState == LimitState.AT_UPPER) {
            float newImpulse = m_impulse.z + impulse.z;
            if (newImpulse > 0.0f) {
                final Vec2 rhs = pool.popVec2();
                rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
                m_mass.solve22ToOut(rhs, temp);
                impulse.x = temp.x;
                impulse.y = temp.y;
                impulse.z = -m_impulse.z;
                m_impulse.x += temp.x;
                m_impulse.y += temp.y;
                m_impulse.z = 0.0f;
                pool.pushVec2(1);
            } else {
                m_impulse.addLocal(impulse);
            }
        }
        final Vec2 P = pool.popVec2();
        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.pushVec2(2);
        pool.pushVec3(2);
    } else {
        // Solve point-to-point constraint
        Vec2 Cdot = pool.popVec2();
        Vec2 impulse = pool.popVec2();
        Vec2.crossToOutUnsafe(wA, m_rA, temp);
        Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
        Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
        // just leave negated
        m_mass.solve22ToOut(Cdot.negateLocal(), impulse);
        m_impulse.x += impulse.x;
        m_impulse.y += impulse.y;
        vA.x -= mA * impulse.x;
        vA.y -= mA * impulse.y;
        wA -= iA * Vec2.cross(m_rA, impulse);
        vB.x += mB * impulse.x;
        vB.y += mB * impulse.y;
        wB += iB * Vec2.cross(m_rB, impulse);
        pool.pushVec2(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(1);
}

Example 37 with Vec2

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

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 Rot qA = pool.popRot();
    final Rot 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.
    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
    float length = u.normalize();
    float C = length - m_maxLength;
    C = MathUtils.clamp(C, 0.0f, Settings.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 < Settings.linearSlop;
}

Example 38 with Vec2

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

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 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);
    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 > Settings.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 39 with Vec2

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

the class RopeJoint 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;
    // Cdot = dot(u, v + cross(w, r))
    Vec2 vpA = pool.popVec2();
    Vec2 vpB = pool.popVec2();
    Vec2 temp = pool.popVec2();
    Vec2.crossToOutUnsafe(wA, m_rA, vpA);
    vpA.addLocal(vA);
    Vec2.crossToOutUnsafe(wB, m_rB, vpB);
    vpB.addLocal(vB);
    float C = m_length - m_maxLength;
    float Cdot = Vec2.dot(m_u, temp.set(vpB).subLocal(vpA));
    // Predictive constraint.
    if (C < 0.0f) {
        Cdot += data.step.inv_dt * C;
    }
    float impulse = -m_mass * Cdot;
    float oldImpulse = m_impulse;
    m_impulse = MathUtils.min(0.0f, m_impulse + impulse);
    impulse = m_impulse - oldImpulse;
    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);
    pool.pushVec2(3);
    // 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 40 with Vec2

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

the class WeldJoint 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 Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Vec2 temp = pool.popVec2();
    final Vec2 rA = pool.popVec2();
    final Vec2 rB = pool.popVec2();
    qA.set(aA);
    qB.set(aB);
    float mA = m_invMassA, mB = m_invMassB;
    float iA = m_invIA, iB = m_invIB;
    Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
    float positionError, angularError;
    final Mat33 K = pool.popMat33();
    final Vec2 C1 = pool.popVec2();
    final Vec2 P = pool.popVec2();
    K.ex.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
    K.ey.x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
    K.ez.x = -rA.y * iA - rB.y * iB;
    K.ex.y = K.ey.x;
    K.ey.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB;
    K.ez.y = rA.x * iA + rB.x * iB;
    K.ex.z = K.ez.x;
    K.ey.z = K.ez.y;
    K.ez.z = iA + iB;
    if (m_frequencyHz > 0.0f) {
        C1.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
        positionError = C1.length();
        angularError = 0.0f;
        K.solve22ToOut(C1, P);
        P.negateLocal();
        cA.x -= mA * P.x;
        cA.y -= mA * P.y;
        aA -= iA * Vec2.cross(rA, P);
        cB.x += mB * P.x;
        cB.y += mB * P.y;
        aB += iB * Vec2.cross(rB, P);
    } else {
        C1.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
        float C2 = aB - aA - m_referenceAngle;
        positionError = C1.length();
        angularError = MathUtils.abs(C2);
        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);
        cB.x += mB * P.x;
        cB.y += mB * P.y;
        aB += iB * (Vec2.cross(rB, P) + impulse.z);
        pool.pushVec3(2);
    }
    //    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.pushVec2(5);
    pool.pushRot(2);
    pool.pushMat33(1);
    return positionError <= Settings.linearSlop && angularError <= Settings.angularSlop;
}