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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      collideSide=COLLIDE_NONE;
      accumulateImpulse=0;
    }
    restitute+=biasImpulse;
    Vector2f impulse = new Vector2f(ndp);
    impulse.scale(accumulateImpulse);
   
    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(accumulateImpulse);
   
    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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    p = newImpulse - oldImpulse;

    accumulateImpulse = newImpulse;

    Vector2f impulse = new Vector2f(n);
    impulse.scale(p);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
 
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    Vector2f impulse = new Vector2f(n);
    impulse.scale(p);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
          impulse)));
    }
    if (!body2.isStatic()) {
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      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
          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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     * relativeVelocity.add(MathUtil.mul(tr1, dp));
     */
    // relativeVelocity.add(MathUtil.cross(dp,body1.getAngularVelocity()));
    n = new Vector2f(-ndp.y, ndp.x);
    Vector2f v1 = new Vector2f(n);
    v1.scale(-body2.getInvMass() - body1.getInvMass());

    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, n), r2);
    v2.scale(-body2.getInvI());

    Vector2f v3 = MathUtil.cross(MathUtil.cross(R, n), r1);
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    n = new Vector2f(-ndp.y, ndp.x);
    Vector2f v1 = new Vector2f(n);
    v1.scale(-body2.getInvMass() - body1.getInvMass());

    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, n), r2);
    v2.scale(-body2.getInvI());

    Vector2f v3 = MathUtil.cross(MathUtil.cross(R, n), r1);
    v3.scale(-body1.getInvI());

    Vector2f K1 = new Vector2f(v1);
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    Vector2f v2 = MathUtil.cross(MathUtil.cross(r2, n), r2);
    v2.scale(-body2.getInvI());

    Vector2f v3 = MathUtil.cross(MathUtil.cross(R, n), r1);
    v3.scale(-body1.getInvI());

    Vector2f K1 = new Vector2f(v1);
    K1.add(v2);
    K1.add(v3);
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      biasImpulse = biasFactor * MathUtil.cross(ndp, VA) * invDT;

    Vector2f impulse = new Vector2f(n);
    impulse.scale(accumulateImpulse+biasImpulse);
    if (!body1.isStatic()) {
      Vector2f accum1 = new Vector2f(impulse);
      accum1.scale(body1.getInvMass());
      body1.adjustVelocity(accum1);
      body1.adjustAngularVelocity((body1.getInvI() * MathUtil.cross(R,
 
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