Examples of Mat33

org.jbox2d.common.Mat33
A 3-by-3 matrix. Stored in column-major order. @author Daniel Murphy

Examples of org.jbox2d.common.Mat33

    };
    rots = new OrderedStack<Rot>(argSize, argContainerSize) {
      protected Rot newInstance() { return new Rot(); }
    };
    mat33s = new OrderedStack<Mat33>(argSize, argContainerSize) {
      protected Mat33 newInstance() { return new Mat33(); }
    };


    dist = new Distance();
    collision = new Collision(this);
    toi = new TimeOfImpact(this);

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Examples of org.jbox2d.common.Mat33

    // [ -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 Mat33 K = pool.popMat33();


    K.ex.x = mA + mB + m_rA.y * m_rA.y * iA + m_rB.y * m_rB.y * iB;
    K.ey.x = -m_rA.y * m_rA.x * iA - m_rB.y * m_rB.x * iB;
    K.ez.x = -m_rA.y * iA - m_rB.y * iB;
    K.ex.y = K.ey.x;
    K.ey.y = mA + mB + m_rA.x * m_rA.x * iA + m_rB.x * m_rB.x * iB;
    K.ez.y = m_rA.x * iA + m_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) {
      K.getInverse22(m_mass);


      float invM = iA + iB;
      float m = invM > 0.0f ? 1.0f / invM : 0.0f;


      float C = aB - aA - m_referenceAngle;


      // Frequency
      float omega = 2.0f * MathUtils.PI * m_frequencyHz;


      // Damping coefficient
      float d = 2.0f * m * m_dampingRatio * omega;


      // Spring stiffness
      float k = m * 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;


      invM += m_gamma;
      m_mass.ez.z = invM != 0.0f ? 1.0f / invM : 0.0f;
    } else {
      K.getSymInverse33(m_mass);
      m_gamma = 0.0f;
      m_bias = 0.0f;
    }


    if (data.step.warmStarting) {

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Examples of org.jbox2d.common.Mat33


    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;

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Examples of org.jbox2d.common.Mat33

    m_motorSpeed = def.motorSpeed;
    m_enableLimit = def.enableLimit;
    m_enableMotor = def.enableMotor;
    m_limitState = LimitState.INACTIVE;


    m_K = new Mat33();
    m_axis = new Vec2();
    m_perp = new Vec2();
  }

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Examples of org.jbox2d.common.Mat33

        k22 = 1.0f;
      }
      float k23 = iA * a1 + iB * a2;
      float k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;


      final Mat33 K = pool.popMat33();
      K.ex.set(k11, k12, k13);
      K.ey.set(k12, k22, k23);
      K.ez.set(k13, k23, k33);


      final Vec3 C = pool.popVec3();
      C.x = C1.x;
      C.y = C1.y;
      C.z = C2;


      K.solve33ToOut(C.negateLocal(), impulse);
      pool.pushVec3(1);
      pool.pushMat33(1);
    } else {
      float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
      float k12 = iA * s1 + iB * s2;
      float k22 = iA + iB;
      if (k22 == 0.0f) {
        k22 = 1.0f;
      }


      final Mat22 K = pool.popMat22();
      K.ex.set(k11, k12);
      K.ey.set(k12, k22);


      // temp is impulse1
      K.solveToOut(C1.negateLocal(), temp);
      C1.negateLocal();


      impulse.x = temp.x;
      impulse.y = temp.y;
      impulse.z = 0.0f;

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Examples of org.jbox2d.common.Mat33

    };
    rots = new OrderedStack<Rot>(argSize, argContainerSize) {
      protected Rot newInstance() { return new Rot(); }
    };
    mat33s = new OrderedStack<Mat33>(argSize, argContainerSize) {
      protected Mat33 newInstance() { return new Mat33(); }
    };


    dist = new Distance();
    collision = new Collision(this);
    toi = new TimeOfImpact(this);

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Examples of org.jbox2d.common.Mat33

    m_motorSpeed = def.motorSpeed;
    m_enableLimit = def.enableLimit;
    m_enableMotor = def.enableMotor;
    m_limitState = LimitState.INACTIVE;
    
    m_K = new Mat33();
    m_axis = new Vec2();
    m_perp = new Vec2();
  }

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Examples of org.jbox2d.common.Mat33

    m_referenceAngle = def.referenceAngle;


    m_impulse = new Vec3();
    m_impulse.setZero();
    
    m_mass = new Mat33();
  }

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Examples of org.jbox2d.common.Mat33

    m_motorSpeed = def.motorSpeed;
    m_enableLimit = def.enableLimit;
    m_enableMotor = def.enableMotor;
    m_limitState = LimitState.INACTIVE;


    m_K = new Mat33();
    m_axis = new Vec2();
    m_perp = new Vec2();
  }

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Examples of org.jbox2d.common.Mat33

        k22 = 1.0f;
      }
      float k23 = iA * a1 + iB * a2;
      float k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;


      final Mat33 K = pool.popMat33();
      K.ex.set(k11, k12, k13);
      K.ey.set(k12, k22, k23);
      K.ez.set(k13, k23, k33);


      final Vec3 C = pool.popVec3();
      C.x = C1.x;
      C.y = C1.y;
      C.z = C2;


      K.solve33ToOut(C.negateLocal(), impulse);
      pool.pushVec3(1);
      pool.pushMat33(1);
    } else {
      float k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
      float k12 = iA * s1 + iB * s2;
      float k22 = iA + iB;
      if (k22 == 0.0f) {
        k22 = 1.0f;
      }


      final Mat22 K = pool.popMat22();
      K.ex.set(k11, k12);
      K.ey.set(k12, k22);


      // temp is impulse1
      K.solveToOut(C1.negateLocal(), temp);
      C1.negateLocal();


      impulse.x = temp.x;
      impulse.y = temp.y;
      impulse.z = 0.0f;

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