Package eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math

Examples of eas.simulation.spatial.sim2D.physicalSimulation.physicsEngine.net.phys2d.math.Vector2f.scale()

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      body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));
    }

    if (!body2.isStatic()) {
      Vector2f delta2 = new Vector2f(impulse);
      delta2.scale(body2.getInvMass());
      body2.adjustVelocity(delta2);
      body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2,impulse));
    }
   
    accumulatedImpulse.add(impulse);
 
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      Vector2f vec = MathUtil.scale(contacts[i].getNormal(),-1);
      contacts[i].setNormal(vec);
     
      Vector2f pt = MathUtil.sub(contacts[i].getPosition(), circleBody.getPosition());
      pt.normalise();
      pt.scale(((Circle) circleBody.getBodyShape()).getRadius());
      pt.add(circleBody.getPosition());
      contacts[i].setPosition(pt);
    }
   
    return count;
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    float ju = -dv.dot(dp) + bias;
    float p = ju / sc;

    Vector2f impulse = new Vector2f(dp);
    impulse.scale(p);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
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    Vector2f impulse = new Vector2f(dp);
    impulse.scale(p);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1,
          impulse)));
    }

 
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          impulse)));
    }

    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(body2.getInvI()
          * MathUtil.cross(r2, impulse));
    }

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    dp.normalise();

    sc = MathUtil.mul(K, dp).dot(dp);

    Vector2f impulse = new Vector2f(dp);
    impulse.scale(accumulatedImpulse);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
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    Vector2f impulse = new Vector2f(dp);
    impulse.scale(accumulatedImpulse);

    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(-body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1,
          impulse)));
    }

 
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          impulse)));
    }

    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
      accum2.scale(body2.getInvMass());
      body2.adjustVelocity(accum2);
      body2.adjustAngularVelocity(body2.getInvI()
          * MathUtil.cross(r2, impulse));
    }
  }
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    if (centre < linePos) {
      if (!line.blocksInnerEdge()) {
        return 0;
      }
     
      normal.scale(-1);
      for (int i=0;i<4;i++) {
        if (tangent[i] > linePos) {
          if (proj[i] < 0) {
            Vector2f onAxis = new Vector2f();
            Line leftLine = new Line(getPt(pts,i-1),pts[i]);
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    // Apply accumulated impulse.
    accumulatedImpulse.scale(relaxation);
   
    Vector2f accum1 = new Vector2f(accumulatedImpulse);
    accum1.scale(-body1.getInvMass());
    body1.adjustVelocity(accum1);
    body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1, accumulatedImpulse)));

    Vector2f accum2 = new Vector2f(accumulatedImpulse);
    accum2.scale(body2.getInvMass());
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