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

Example 41 with Vec2

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

the class WheelJoint method solveVelocityConstraints.

@Override
public void solveVelocityConstraints(SolverData data) {
    float mA = m_invMassA, mB = m_invMassB;
    float iA = m_invIA, iB = m_invIB;
    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 temp = pool.popVec2();
    final Vec2 P = pool.popVec2();
    // Solve spring constraint
    {
        float Cdot = Vec2.dot(m_ax, temp.set(vB).subLocal(vA)) + m_sBx * wB - m_sAx * wA;
        float impulse = -m_springMass * (Cdot + m_bias + m_gamma * m_springImpulse);
        m_springImpulse += impulse;
        P.x = impulse * m_ax.x;
        P.y = impulse * m_ax.y;
        float LA = impulse * m_sAx;
        float LB = impulse * m_sBx;
        vA.x -= mA * P.x;
        vA.y -= mA * P.y;
        wA -= iA * LA;
        vB.x += mB * P.x;
        vB.y += mB * P.y;
        wB += iB * LB;
    }
    // Solve rotational motor constraint
    {
        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;
    }
    // Solve point to line constraint
    {
        float Cdot = Vec2.dot(m_ay, temp.set(vB).subLocal(vA)) + m_sBy * wB - m_sAy * wA;
        float impulse = -m_mass * Cdot;
        m_impulse += impulse;
        P.x = impulse * m_ay.x;
        P.y = impulse * m_ay.y;
        float LA = impulse * m_sAy;
        float LB = impulse * m_sBy;
        vA.x -= mA * P.x;
        vA.y -= mA * P.y;
        wA -= iA * LA;
        vB.x += mB * P.x;
        vB.y += mB * P.y;
        wB += iB * LB;
    }
    pool.pushVec2(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;
}

Example 42 with Vec2

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

the class GearJoint method initVelocityConstraints.

@Override
public void initVelocityConstraints(SolverData data) {
    m_indexA = m_bodyA.m_islandIndex;
    m_indexB = m_bodyB.m_islandIndex;
    m_indexC = m_bodyC.m_islandIndex;
    m_indexD = m_bodyD.m_islandIndex;
    m_lcA.set(m_bodyA.m_sweep.localCenter);
    m_lcB.set(m_bodyB.m_sweep.localCenter);
    m_lcC.set(m_bodyC.m_sweep.localCenter);
    m_lcD.set(m_bodyD.m_sweep.localCenter);
    m_mA = m_bodyA.m_invMass;
    m_mB = m_bodyB.m_invMass;
    m_mC = m_bodyC.m_invMass;
    m_mD = m_bodyD.m_invMass;
    m_iA = m_bodyA.m_invI;
    m_iB = m_bodyB.m_invI;
    m_iC = m_bodyC.m_invI;
    m_iD = m_bodyD.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;
    // Vec2 cC = data.positions[m_indexC].c;
    float aC = data.positions[m_indexC].a;
    Vec2 vC = data.velocities[m_indexC].v;
    float wC = data.velocities[m_indexC].w;
    // Vec2 cD = data.positions[m_indexD].c;
    float aD = data.positions[m_indexD].a;
    Vec2 vD = data.velocities[m_indexD].v;
    float wD = data.velocities[m_indexD].w;
    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);
    m_mass = 0.0f;
    Vec2 temp = pool.popVec2();
    if (m_typeA == JointType.REVOLUTE) {
        m_JvAC.setZero();
        m_JwA = 1.0f;
        m_JwC = 1.0f;
        m_mass += m_iA + m_iC;
    } else {
        Vec2 rC = pool.popVec2();
        Vec2 rA = pool.popVec2();
        Rot.mulToOutUnsafe(qC, m_localAxisC, m_JvAC);
        Rot.mulToOutUnsafe(qC, temp.set(m_localAnchorC).subLocal(m_lcC), rC);
        Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_lcA), rA);
        m_JwC = Vec2.cross(rC, m_JvAC);
        m_JwA = Vec2.cross(rA, m_JvAC);
        m_mass += m_mC + m_mA + m_iC * m_JwC * m_JwC + m_iA * m_JwA * m_JwA;
        pool.pushVec2(2);
    }
    if (m_typeB == JointType.REVOLUTE) {
        m_JvBD.setZero();
        m_JwB = m_ratio;
        m_JwD = m_ratio;
        m_mass += m_ratio * m_ratio * (m_iB + m_iD);
    } else {
        Vec2 u = pool.popVec2();
        Vec2 rD = pool.popVec2();
        Vec2 rB = 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);
        m_JvBD.set(u).mulLocal(m_ratio);
        m_JwD = m_ratio * Vec2.cross(rD, u);
        m_JwB = m_ratio * Vec2.cross(rB, u);
        m_mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * m_JwD * m_JwD + m_iB * m_JwB * m_JwB;
        pool.pushVec2(3);
    }
    // Compute effective mass.
    m_mass = m_mass > 0.0f ? 1.0f / m_mass : 0.0f;
    if (data.step.warmStarting) {
        vA.x += (m_mA * m_impulse) * m_JvAC.x;
        vA.y += (m_mA * m_impulse) * m_JvAC.y;
        wA += m_iA * m_impulse * m_JwA;
        vB.x += (m_mB * m_impulse) * m_JvBD.x;
        vB.y += (m_mB * m_impulse) * m_JvBD.y;
        wB += m_iB * m_impulse * m_JwB;
        vC.x -= (m_mC * m_impulse) * m_JvAC.x;
        vC.y -= (m_mC * m_impulse) * m_JvAC.y;
        wC -= m_iC * m_impulse * m_JwC;
        vD.x -= (m_mD * m_impulse) * m_JvBD.x;
        vD.y -= (m_mD * m_impulse) * m_JvBD.y;
        wD -= m_iD * m_impulse * m_JwD;
    } else {
        m_impulse = 0.0f;
    }
    pool.pushVec2(1);
    pool.pushRot(4);
    // 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 43 with Vec2

use of org.jbox2d.common.Vec2 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;
}

Example 44 with Vec2

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

the class MotorJoint method solveVelocityConstraints.

@Override
public void solveVelocityConstraints(SolverData data) {
    final Vec2 vA = data.velocities[m_indexA].v;
    float wA = data.velocities[m_indexA].w;
    final 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;
    float h = data.step.dt;
    float inv_h = data.step.inv_dt;
    final Vec2 temp = pool.popVec2();
    // Solve angular friction
    {
        float Cdot = wB - wA + inv_h * m_correctionFactor * m_angularError;
        float impulse = -m_angularMass * Cdot;
        float oldImpulse = m_angularImpulse;
        float maxImpulse = h * m_maxTorque;
        m_angularImpulse = MathUtils.clamp(m_angularImpulse + impulse, -maxImpulse, maxImpulse);
        impulse = m_angularImpulse - oldImpulse;
        wA -= iA * impulse;
        wB += iB * impulse;
    }
    final Vec2 Cdot = pool.popVec2();
    // Solve linear friction
    {
        // Cdot = vB + b2Cross(wB, m_rB) - vA - b2Cross(wA, m_rA) + inv_h * m_correctionFactor *
        // m_linearError;
        Cdot.x = vB.x + -wB * m_rB.y - vA.x - -wA * m_rA.y + inv_h * m_correctionFactor * m_linearError.x;
        Cdot.y = vB.y + wB * m_rB.x - vA.y - wA * m_rA.x + inv_h * m_correctionFactor * m_linearError.y;
        final Vec2 impulse = temp;
        Mat22.mulToOutUnsafe(m_linearMass, Cdot, impulse);
        impulse.negateLocal();
        final Vec2 oldImpulse = pool.popVec2();
        oldImpulse.set(m_linearImpulse);
        m_linearImpulse.addLocal(impulse);
        float maxImpulse = h * m_maxForce;
        if (m_linearImpulse.lengthSquared() > maxImpulse * maxImpulse) {
            m_linearImpulse.normalize();
            m_linearImpulse.mulLocal(maxImpulse);
        }
        impulse.x = m_linearImpulse.x - oldImpulse.x;
        impulse.y = m_linearImpulse.y - oldImpulse.y;
        vA.x -= mA * impulse.x;
        vA.y -= mA * impulse.y;
        wA -= iA * (m_rA.x * impulse.y - m_rA.y * impulse.x);
        vB.x += mB * impulse.x;
        vB.y += mB * impulse.y;
        wB += iB * (m_rB.x * impulse.y - m_rB.y * impulse.x);
    }
    pool.pushVec2(3);
    // 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;
}

Example 45 with Vec2

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

the class MotorJointDef method initialize.

public void initialize(Body bA, Body bB) {
    bodyA = bA;
    bodyB = bB;
    Vec2 xB = bodyB.getPosition();
    bodyA.getLocalPointToOut(xB, linearOffset);
    float angleA = bodyA.getAngle();
    float angleB = bodyB.getAngle();
    angularOffset = angleB - angleA;
}