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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    accum1.scale(-body1.getInvMass());
    body1.adjustVelocity(accum1);
    body1.adjustAngularVelocity(-(body1.getInvI() * MathUtil.cross(r1, accumulatedImpulse)));

    Vector2f accum2 = new Vector2f(accumulatedImpulse);
    accum2.scale(body2.getInvMass());
    body2.adjustVelocity(accum2);
    body2.adjustAngularVelocity(body2.getInvI() * MathUtil.cross(r2, accumulatedImpulse));
  }
 
  /**
 
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    public void applyImpulse() {
    Vector2f dv = new Vector2f(body2.getVelocity());
    dv.add(MathUtil.cross(body2.getAngularVelocity(),r2));
    dv.sub(body1.getVelocity());
    dv.sub(MathUtil.cross(body1.getAngularVelocity(),r1));
      dv.scale(-1);
      dv.add(bias);
     
      if (dv.lengthSquared() == 0) {
        return;
      }
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      }
     
    Vector2f impulse = MathUtil.mul(M, dv);

    Vector2f delta1 = new Vector2f(impulse);
    delta1.scale(-body1.getInvMass());
    body1.adjustVelocity(delta1);
    body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));

    Vector2f delta2 = new Vector2f(impulse);
    delta2.scale(body2.getInvMass());
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    delta1.scale(-body1.getInvMass());
    body1.adjustVelocity(delta1);
    body1.adjustAngularVelocity(-body1.getInvI() * MathUtil.cross(r1,impulse));

    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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    }
    P = newImpulse-accumulateImpulse;
    accumulateImpulse = newImpulse;
   
    Vector2f impulse = new Vector2f(ndp);
    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(ndp);
    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)));
    }
    if (!body2.isStatic()) {
      Vector2f accum2 = new Vector2f(impulse);
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      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(r1, 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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    ndp.normalise();
   
    restitute = -restitutionConstant*dv.dot(ndp);
   
    Vector2f v1 = new Vector2f(ndp);
    v1.scale(-body2.getInvMass() - body1.getInvMass());

    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, ndp), r2);
    v2.scale(-body2.getInvI());
   
    Vector2f v3 = MathUtil.cross(MathUtil.cross(r1, ndp),r1);
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    Vector2f v1 = new Vector2f(ndp);
    v1.scale(-body2.getInvMass() - body1.getInvMass());

    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, ndp), r2);
    v2.scale(-body2.getInvI());
   
    Vector2f v3 = MathUtil.cross(MathUtil.cross(r1, ndp),r1);
    v3.scale(-body1.getInvI());
   
    Vector2f K1 = new Vector2f(v1);
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    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, ndp), r2);
    v2.scale(-body2.getInvI());
   
    Vector2f v3 = MathUtil.cross(MathUtil.cross(r1, ndp),r1);
    v3.scale(-body1.getInvI());
   
    Vector2f K1 = new Vector2f(v1);
    K1.add(v2);
    K1.add(v3);
   
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