Examples with Rot spacegraph.space2d.phys.common.Rot used on opensource projects

Example 6 with Rot

use of spacegraph.space2d.phys.common.Rot in project narchy by automenta.

the class DistanceJoint method solvePositionConstraints.

@Override
public boolean solvePositionConstraints(final SolverData data) {
    if (m_frequencyHz > 0.0f) {
        return true;
    }
    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Tuple2f rA = pool.popVec2();
    final Tuple2f rB = pool.popVec2();
    final Tuple2f u = pool.popVec2();
    Tuple2f cA = data.positions[m_indexA];
    float aA = data.positions[m_indexA].a;
    Tuple2f cB = data.positions[m_indexB];
    float aB = data.positions[m_indexB].a;
    qA.set(aA);
    qB.set(aB);
    Rot.mulToOutUnsafe(qA, u.set(m_localAnchorA).subbed(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, u.set(m_localAnchorB).subbed(m_localCenterB), rB);
    u.set(cB).added(rB).subbed(cA).subbed(rA);
    float length = u.normalize();
    float C = length - m_length;
    C = MathUtils.clamp(C, -Settings.maxLinearCorrection, 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);
    // 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(3);
    pool.pushRot(2);
    return Math.abs(C) < Settings.linearSlop;
}

Example 7 with Rot

use of spacegraph.space2d.phys.common.Rot in project narchy by automenta.

the class DistanceJoint method initVelocityConstraints.

@Override
public void initVelocityConstraints(final SolverData data) {
    m_indexA = A.island;
    m_indexB = B.island;
    m_localCenterA.set(A.sweep.localCenter);
    m_localCenterB.set(B.sweep.localCenter);
    m_invMassA = A.m_invMass;
    m_invMassB = B.m_invMass;
    m_invIA = A.m_invI;
    m_invIB = B.m_invI;
    Tuple2f cA = data.positions[m_indexA];
    float aA = data.positions[m_indexA].a;
    Tuple2f vA = data.velocities[m_indexA];
    float wA = data.velocities[m_indexA].w;
    Tuple2f cB = data.positions[m_indexB];
    float aB = data.positions[m_indexB].a;
    Tuple2f vB = data.velocities[m_indexB];
    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).subbed(m_localCenterA), m_rA);
    Rot.mulToOutUnsafe(qB, m_u.set(m_localAnchorB).subbed(m_localCenterB), m_rB);
    m_u.set(cB).added(m_rB).subbed(cA).subbed(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 = Tuple2f.cross(m_rA, m_u);
    float crBu = Tuple2f.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;
        Tuple2f P = pool.popVec2();
        P.set(m_u).scaled(m_impulse);
        vA.x -= m_invMassA * P.x;
        vA.y -= m_invMassA * P.y;
        wA -= m_invIA * Tuple2f.cross(m_rA, P);
        vB.x += m_invMassB * P.x;
        vB.y += m_invMassB * P.y;
        wB += m_invIB * Tuple2f.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;
}

Example 8 with Rot

use of spacegraph.space2d.phys.common.Rot in project narchy by automenta.

the class GearJoint method solvePositionConstraints.

@Override
public boolean solvePositionConstraints(SolverData data) {
    Tuple2f cA = data.positions[m_indexA];
    float aA = data.positions[m_indexA].a;
    Tuple2f cB = data.positions[m_indexB];
    float aB = data.positions[m_indexB].a;
    Tuple2f cC = data.positions[m_indexC];
    float aC = data.positions[m_indexC].a;
    Tuple2f cD = data.positions[m_indexD];
    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;
    Tuple2f temp = pool.popVec2();
    Tuple2f JvAC = pool.popVec2();
    Tuple2f 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 {
        Tuple2f rC = pool.popVec2();
        Tuple2f rA = pool.popVec2();
        Tuple2f pC = pool.popVec2();
        Tuple2f pA = pool.popVec2();
        Rot.mulToOutUnsafe(qC, m_localAxisC, JvAC);
        Rot.mulToOutUnsafe(qC, temp.set(m_localAnchorC).subbed(m_lcC), rC);
        Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subbed(m_lcA), rA);
        JwC = Tuple2f.cross(rC, JvAC);
        JwA = Tuple2f.cross(rA, JvAC);
        mass += m_mC + m_mA + m_iC * JwC * JwC + m_iA * JwA * JwA;
        pC.set(m_localAnchorC).subbed(m_lcC);
        Rot.mulTransUnsafe(qC, temp.set(rA).added(cA).subbed(cC), pA);
        coordinateA = Tuple2f.dot(pA.subbed(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 {
        Tuple2f u = pool.popVec2();
        Tuple2f rD = pool.popVec2();
        Tuple2f rB = pool.popVec2();
        Tuple2f pD = pool.popVec2();
        Tuple2f pB = pool.popVec2();
        Rot.mulToOutUnsafe(qD, m_localAxisD, u);
        Rot.mulToOutUnsafe(qD, temp.set(m_localAnchorD).subbed(m_lcD), rD);
        Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subbed(m_lcB), rB);
        JvBD.set(u).scaled(m_ratio);
        JwD = Tuple2f.cross(rD, u);
        JwB = Tuple2f.cross(rB, u);
        mass += m_ratio * m_ratio * (m_mD + m_mB) + m_iD * JwD * JwD + m_iB * JwB * JwB;
        pD.set(m_localAnchorD).subbed(m_lcD);
        Rot.mulTransUnsafe(qD, temp.set(rB).added(cB).subbed(cD), pB);
        coordinateB = Tuple2f.dot(pB.subbed(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;
}

Example 9 with Rot

use of spacegraph.space2d.phys.common.Rot in project narchy by automenta.

the class RopeJoint method initVelocityConstraints.

@Override
public void initVelocityConstraints(final SolverData data) {
    indexA = A.island;
    indexB = B.island;
    m_localCenterA.set(A.sweep.localCenter);
    m_localCenterB.set(B.sweep.localCenter);
    m_invMassA = A.m_invMass;
    m_invMassB = B.m_invMass;
    m_invIA = A.m_invI;
    m_invIB = B.m_invI;
    Tuple2f cA = data.positions[indexA];
    float aA = data.positions[indexA].a;
    Tuple2f vA = data.velocities[indexA];
    float wA = data.velocities[indexA].w;
    Tuple2f cB = data.positions[indexB];
    float aB = data.positions[indexB].a;
    Tuple2f vB = data.velocities[indexB];
    float wB = data.velocities[indexB].w;
    final Rot qA = new Rot();
    final Rot qB = new Rot();
    final Tuple2f temp = new v2();
    qA.set(aA);
    qB.set(aB);
    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, temp.set(localAnchorA).subbed(m_localCenterA), m_rA);
    Rot.mulToOutUnsafe(qB, temp.set(localAnchorB).subbed(m_localCenterB), m_rB);
    m_u.set(cB).added(m_rB).subbed(cA).subbed(m_rA);
    length = m_u.length();
    float C = length - targetLength();
    float ca = Math.abs(C);
    if (length > Settings.linearSlop) {
        m_u.scaled(1.0f / length);
        // if (C > Settings.linearSlop) {
        state = LimitState.AT_UPPER;
    // }
    // /*else if (C < -Settings.linearSlop) {
    // state = LimitState.AT_LOWER;
    // } */ else {
    // state = LimitState.INACTIVE;
    // m_u.setZero();
    // m_mass = 0.0f;
    // m_impulse = 0.0f;
    // length = 0;
    // return;
    // }
    } else {
        state = LimitState.INACTIVE;
        m_u.setZero();
        m_mass = 0.0f;
        m_impulse = 0.0f;
        length = 0;
        return;
    }
    // Compute effective mass.
    float crA = Tuple2f.cross(m_rA, m_u);
    float crB = Tuple2f.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 * positionFactor;
    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;
    // }
    // data.velocities[m_indexA].v = vA;
    data.velocities[indexA].w = wA;
    // data.velocities[m_indexB].v = vB;
    data.velocities[indexB].w = wB;
}

Example 10 with Rot

use of spacegraph.space2d.phys.common.Rot in project narchy by automenta.

the class RopeJoint method solvePositionConstraints.

@Override
public boolean solvePositionConstraints(final SolverData data) {
    final float targetLength = targetLength();
    Tuple2f cA = data.positions[indexA];
    float aA = data.positions[indexA].a;
    Tuple2f cB = data.positions[indexB];
    float aB = data.positions[indexB].a;
    final Rot qA = pool.popRot();
    final Rot qB = pool.popRot();
    final Tuple2f u = pool.popVec2();
    final Tuple2f rA = pool.popVec2();
    final Tuple2f rB = pool.popVec2();
    final Tuple2f temp = pool.popVec2();
    qA.set(aA);
    qB.set(aB);
    // Compute the effective masses.
    Rot.mulToOutUnsafe(qA, temp.set(localAnchorA).subbed(m_localCenterA), rA);
    Rot.mulToOutUnsafe(qB, temp.set(localAnchorB).subbed(m_localCenterB), rB);
    u.set(cB).added(rB).subbed(cA).subbed(rA);
    float length = u.normalize();
    float C = length - targetLength;
    // 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[indexA].a = aA;
    // data.positions[m_indexB].c = cB;
    data.positions[indexB].a = aB;
    return Math.abs(length - targetLength) < Settings.linearSlop;
}